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| 1775 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 1963 | - | 7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| 1775 | - | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 1963 | - | 17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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| 1775 | - | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1775 | - | 36 | // + with our written permission |
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 1963 | - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 1775 | - | 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 52 | #include <stdlib.h> |
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| 53 | #include "commands.h" |
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| 54 | #include "controlMixer.h" |
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| 55 | #include "flight.h" |
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| 56 | #include "eeprom.h" |
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| 57 | #include "attitude.h" |
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| 1887 | - | 58 | #include "output.h" |
| 2052 | - | 59 | #include "rc.h" |
| 1775 | - | 60 | |
| 2052 | - | 61 | #ifdef USE_MK3MAG |
| 62 | // TODO: Kick that all outa here! |
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| 2048 | - | 63 | uint8_t compassCalState = 0; |
| 2052 | - | 64 | #endif |
| 2048 | - | 65 | |
| 1775 | - | 66 | void commands_handleCommands(void) { |
| 1821 | - | 67 | /* |
| 68 | * Get the current command (start/stop motors, calibrate), if any. |
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| 69 | */ |
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| 70 | uint8_t command = controlMixer_getCommand(); |
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| 71 | uint8_t repeated = controlMixer_isCommandRepeated(); |
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| 72 | uint8_t argument = controlMixer_getArgument(); |
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| 1775 | - | 73 | |
| 1821 | - | 74 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| 75 | if (command == COMMAND_GYROCAL && !repeated) { |
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| 76 | // Run gyro calibration but do not repeat it. |
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| 77 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
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| 78 | // isFlying = 0; |
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| 79 | // check roll/pitch stick position |
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| 80 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
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| 81 | // according to roll/pitch stick position |
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| 82 | |||
| 83 | if (argument < 6) { |
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| 84 | // Gyro calinbration, with or without selecting a new parameter-set. |
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| 85 | if (argument > 0 && argument < 6) { |
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| 86 | // A valid parameter-set (1..5) was chosen - use it. |
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| 87 | setActiveParamSet(argument); |
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| 88 | } |
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| 1960 | - | 89 | paramSet_readFromEEProm(getActiveParamSet()); |
| 1969 | - | 90 | analog_calibrateGyros(); |
| 1821 | - | 91 | attitude_setNeutral(); |
| 92 | flight_setNeutral(); |
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| 93 | controlMixer_setNeutral(); |
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| 94 | beepNumber(getActiveParamSet()); |
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| 2052 | - | 95 | } |
| 96 | #ifdef USE_MK3MAG |
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| 97 | else if (staticParams.bitConfig & (CFG_COMPASS_ENABLED | CFG_GPS_ENABLED) && argument == 7) { |
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| 1821 | - | 98 | // If right stick is centered and down |
| 99 | compassCalState = 1; |
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| 100 | beep(1000); |
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| 101 | } |
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| 2052 | - | 102 | #endif |
| 1821 | - | 103 | } |
| 104 | |||
| 105 | // save the ACC neutral setting to eeprom |
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| 106 | else { |
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| 107 | if (command == COMMAND_ACCCAL && !repeated) { |
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| 108 | // Run gyro and acc. meter calibration but do not repeat it. |
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| 109 | analog_calibrateAcc(); |
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| 110 | attitude_setNeutral(); |
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| 111 | flight_setNeutral(); |
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| 112 | controlMixer_setNeutral(); |
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| 113 | beepNumber(getActiveParamSet()); |
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| 114 | } |
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| 115 | } |
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| 116 | } // end !MOTOR_RUN condition. |
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| 117 | if (command == COMMAND_START) { |
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| 118 | isFlying = 1; // TODO: Really???? |
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| 119 | // if (!controlMixer_isCommandRepeated()) { |
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| 120 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
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| 121 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
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| 122 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
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| 123 | // attitude_continueDynamicCalibration(); |
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| 124 | // setPointYaw = 0; |
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| 125 | // IPartPitch = 0; |
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| 126 | // IPartRoll = 0; |
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| 127 | // } |
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| 128 | } else if (command == COMMAND_STOP) { |
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| 129 | isFlying = 0; |
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| 130 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
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| 1775 | - | 131 | } |
| 132 | } |
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| 2048 | - | 133 | |
| 134 | /* |
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| 135 | * if (controlMixer_testCompassCalState()) { |
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| 136 | compassCalState++; |
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| 137 | if (compassCalState < 5) |
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| 138 | beepNumber(compassCalState); |
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| 139 | else |
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| 140 | beep(1000); |
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| 141 | } |
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| 142 | * |
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| 143 | */ |
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| 144 | |||
| 2052 | - | 145 | #ifdef USE_MK3MAG |
| 2048 | - | 146 | uint8_t commands_isCalibratingCompass(void) { |
| 147 | return RC_testCompassCalState(); |
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| 148 | } |
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| 2052 | - | 149 | #endif |