7,28 → 7,24 |
#include "output.h" |
#include "rc.h" |
|
#ifdef USE_MK3MAG |
// TODO: Kick that all outa here! |
uint8_t compassCalState = 0; |
#endif |
|
void commands_handleCommands(void) { |
/* |
* Get the current command (start/stop motors, calibrate), if any. |
*/ |
uint8_t command = controlMixer_getCommand(); |
uint8_t repeated = controlMixer_isCommandRepeated(); |
uint8_t argument = controlMixer_getArgument(); |
if (!isFlying) { |
if (command == COMMAND_GYROCAL && !repeated) { |
// Gyro calinbration, with or without selecting a new parameter-set. |
paramSet_readFromEEProm(1); |
if (command == COMMAND_RCCAL && !repeated) { |
RC_calibrate(); |
rcTrim_writeToEEProm(); |
beepNumber(2); // 2 beeps means RC. |
} else if (command == COMMAND_GYROCAL && !repeated) { |
// Gyro calibration, with or without selecting a new parameter-set. |
// paramSet_readFromEEProm(1); |
analog_calibrate(); |
attitude_setNeutral(); |
controlMixer_setNeutral(); |
beepNumber(1); |
beepNumber(1); // 1 beep means gyro. |
} else if (command == COMMAND_CHMOD && !repeated) { |
configuration_setFlightParameters(argument); |
} |
} // end !MOTOR_RUN condition. |
} |
} |