Rev 2052 | Rev 2088 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1775 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
||
| 3 | // + Nur für den privaten Gebrauch |
||
| 4 | // + www.MikroKopter.com |
||
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
| 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. |
||
| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
||
| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
| 1963 | - | 17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 18 | // + eindeutig als Ursprung verlinkt und genannt werden |
||
| 1775 | - | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
| 21 | // + Benutzung auf eigene Gefahr |
||
| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
| 25 | // + mit unserer Zustimmung zulässig |
||
| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
| 30 | // + this list of conditions and the following disclaimer. |
||
| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
| 32 | // + from this software without specific prior written permission. |
||
| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
||
| 34 | // + for non-commercial use (directly or indirectly) |
||
| 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 |
||
| 38 | // + clearly linked as origin |
||
| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
||
| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
| 1963 | - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
| 1775 | - | 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
||
| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 52 | #include <stdlib.h> |
||
| 53 | #include "commands.h" |
||
| 54 | #include "controlMixer.h" |
||
| 55 | #include "flight.h" |
||
| 56 | #include "eeprom.h" |
||
| 57 | #include "attitude.h" |
||
| 1887 | - | 58 | #include "output.h" |
| 2052 | - | 59 | #include "rc.h" |
| 1775 | - | 60 | |
| 2052 | - | 61 | #ifdef USE_MK3MAG |
| 62 | // TODO: Kick that all outa here! |
||
| 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. |
||
| 69 | */ |
||
| 70 | uint8_t command = controlMixer_getCommand(); |
||
| 71 | uint8_t repeated = controlMixer_isCommandRepeated(); |
||
| 72 | uint8_t argument = controlMixer_getArgument(); |
||
| 1775 | - | 73 | |
| 1821 | - | 74 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| 75 | if (command == COMMAND_GYROCAL && !repeated) { |
||
| 76 | // Run gyro calibration but do not repeat it. |
||
| 77 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
||
| 78 | // isFlying = 0; |
||
| 79 | // check roll/pitch stick position |
||
| 80 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
||
| 81 | // according to roll/pitch stick position |
||
| 82 | |||
| 83 | if (argument < 6) { |
||
| 84 | // Gyro calinbration, with or without selecting a new parameter-set. |
||
| 85 | if (argument > 0 && argument < 6) { |
||
| 86 | // A valid parameter-set (1..5) was chosen - use it. |
||
| 87 | setActiveParamSet(argument); |
||
| 88 | } |
||
| 1960 | - | 89 | paramSet_readFromEEProm(getActiveParamSet()); |
| 1969 | - | 90 | analog_calibrateGyros(); |
| 1821 | - | 91 | attitude_setNeutral(); |
| 92 | controlMixer_setNeutral(); |
||
| 93 | beepNumber(getActiveParamSet()); |
||
| 2052 | - | 94 | } |
| 95 | #ifdef USE_MK3MAG |
||
| 96 | else if (staticParams.bitConfig & (CFG_COMPASS_ENABLED | CFG_GPS_ENABLED) && argument == 7) { |
||
| 1821 | - | 97 | // If right stick is centered and down |
| 98 | compassCalState = 1; |
||
| 99 | beep(1000); |
||
| 100 | } |
||
| 2052 | - | 101 | #endif |
| 1821 | - | 102 | } |
| 103 | |||
| 104 | // save the ACC neutral setting to eeprom |
||
| 105 | else { |
||
| 106 | if (command == COMMAND_ACCCAL && !repeated) { |
||
| 107 | // Run gyro and acc. meter calibration but do not repeat it. |
||
| 108 | analog_calibrateAcc(); |
||
| 109 | attitude_setNeutral(); |
||
| 110 | controlMixer_setNeutral(); |
||
| 111 | beepNumber(getActiveParamSet()); |
||
| 112 | } |
||
| 113 | } |
||
| 114 | } // end !MOTOR_RUN condition. |
||
| 115 | if (command == COMMAND_START) { |
||
| 116 | isFlying = 1; // TODO: Really???? |
||
| 117 | // if (!controlMixer_isCommandRepeated()) { |
||
| 118 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
||
| 119 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
||
| 120 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
||
| 121 | // attitude_continueDynamicCalibration(); |
||
| 122 | // setPointYaw = 0; |
||
| 123 | // IPartPitch = 0; |
||
| 124 | // IPartRoll = 0; |
||
| 125 | // } |
||
| 126 | } else if (command == COMMAND_STOP) { |
||
| 127 | isFlying = 0; |
||
| 128 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
||
| 1775 | - | 129 | } |
| 130 | } |
||
| 2048 | - | 131 | |
| 132 | /* |
||
| 133 | * if (controlMixer_testCompassCalState()) { |
||
| 134 | compassCalState++; |
||
| 135 | if (compassCalState < 5) |
||
| 136 | beepNumber(compassCalState); |
||
| 137 | else |
||
| 138 | beep(1000); |
||
| 139 | } |
||
| 140 | * |
||
| 141 | */ |
||
| 142 | |||
| 2052 | - | 143 | #ifdef USE_MK3MAG |
| 2048 | - | 144 | uint8_t commands_isCalibratingCompass(void) { |
| 145 | return RC_testCompassCalState(); |
||
| 146 | } |
||
| 2052 | - | 147 | #endif |