Rev 2097 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1775 | - | 1 | #include <stdlib.h> |
| 2 | #include "commands.h" |
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| 3 | #include "controlMixer.h" |
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| 4 | #include "flight.h" |
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| 5 | #include "eeprom.h" |
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| 2189 | - | 6 | #include "analog.h" |
| 1775 | - | 7 | #include "attitude.h" |
| 2189 | - | 8 | #include "configuration.h" |
| 9 | #include "beeper.h" |
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| 1775 | - | 10 | |
| 2052 | - | 11 | #ifdef USE_MK3MAG |
| 12 | // TODO: Kick that all outa here! |
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| 2189 | - | 13 | uint8_t compassCalState; |
| 2052 | - | 14 | #endif |
| 2048 | - | 15 | |
| 1775 | - | 16 | void commands_handleCommands(void) { |
| 2189 | - | 17 | /* |
| 18 | * Get the current command (start/stop motors, calibrate), if any. |
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| 19 | */ |
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| 20 | uint8_t command = controlMixer_getCommand(); |
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| 21 | uint8_t repeated = controlMixer_isCommandRepeated(); |
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| 1775 | - | 22 | |
| 2189 | - | 23 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| 24 | uint8_t argument = controlMixer_getArgument(); |
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| 25 | if ((command==COMMAND_GYROCAL || command==COMMAND_GYRO_ACC_CAL) && !repeated) { |
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| 26 | // Run gyro calibration but do not repeat it. |
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| 27 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
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| 28 | // isFlying = 0; |
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| 29 | // check roll/pitch stick position |
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| 30 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
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| 31 | // according to roll/pitch stick position |
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| 1821 | - | 32 | |
| 2189 | - | 33 | if (argument < 6) { |
| 34 | // Gyro calinbration, with or without selecting a new parameter-set. |
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| 35 | if (argument > 0 && argument < 6) { |
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| 36 | // A valid parameter-set (1..5) was chosen - use it. |
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| 37 | setActiveParamSet(argument); |
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| 38 | } |
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| 39 | paramSet_readFromEEProm(getActiveParamSet()); |
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| 40 | analog_calibrateGyros(); |
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| 41 | attitude_setNeutral(); |
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| 42 | controlMixer_setNeutral(); |
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| 43 | flight_setGround(); |
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| 44 | beepNumber(getActiveParamSet()); |
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| 45 | } |
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| 2052 | - | 46 | #ifdef USE_MK3MAG |
| 2189 | - | 47 | else if ((staticParams.bitConfig & CFG_COMPASS_ENABLED) && argument == 7) { |
| 48 | // If right stick is centered and down |
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| 49 | compassCalState = 1; |
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| 50 | beep(1000); |
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| 51 | } |
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| 2052 | - | 52 | #endif |
| 2189 | - | 53 | } |
| 1821 | - | 54 | |
| 2189 | - | 55 | // save the ACC neutral setting to eeprom |
| 56 | if ((command==COMMAND_ACCCAL || command==COMMAND_GYRO_ACC_CAL) && !repeated) { |
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| 57 | // Run gyro and acc. meter calibration but do not repeat it. |
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| 58 | analog_calibrateAcc(); |
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| 59 | attitude_setNeutral(); |
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| 60 | controlMixer_setNeutral(); |
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| 61 | beepNumber(getActiveParamSet()); |
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| 62 | } |
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| 63 | } // end !MOTOR_RUN condition. |
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| 64 | if (command == COMMAND_START) { |
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| 65 | isFlying = 1; // TODO: Really???? |
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| 66 | // if (!controlMixer_isCommandRepeated()) { |
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| 67 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
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| 68 | MKFlags |= MKFLAG_MOTOR_RUN; |
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| 69 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
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| 70 | // attitude_continueDynamicCalibration(); |
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| 71 | // setPointYaw = 0; |
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| 72 | // IPartPitch = 0; |
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| 73 | // IPartRoll = 0; |
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| 74 | // } |
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| 75 | } else if (command == COMMAND_STOP) { |
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| 76 | isFlying = 0; |
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| 77 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
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| 78 | } |
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| 1775 | - | 79 | } |
| 2048 | - | 80 | |
| 81 | /* |
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| 82 | * if (controlMixer_testCompassCalState()) { |
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| 2189 | - | 83 | compassCalState++; |
| 84 | if (compassCalState < 5) |
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| 85 | beepNumber(compassCalState); |
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| 86 | else |
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| 87 | beep(1000); |
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| 88 | } |
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| 2048 | - | 89 | * |
| 90 | */ |
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| 91 | |||
| 2052 | - | 92 | #ifdef USE_MK3MAG |
| 2048 | - | 93 | uint8_t commands_isCalibratingCompass(void) { |
| 94 | return RC_testCompassCalState(); |
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| 95 | } |
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| 2052 | - | 96 | #endif |