12,7 → 12,6 |
*/ |
uint8_t command = controlMixer_getCommand(); |
uint8_t repeated = controlMixer_isCommandRepeated(); |
uint8_t argument = controlMixer_getArgument(); |
|
if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
if (command == COMMAND_GYROCAL && !repeated) { |
25,29 → 24,15 |
// if pitch stick is top or roll stick is left or right --> change parameter setting |
// according to roll/pitch stick position |
|
if (argument < 6) { |
// Gyro calinbration, with or without selecting a new parameter-set. |
if (argument > 0 && argument < 6) { |
// A valid parameter-set (1..5) was chosen - use it. |
setActiveParamSet(argument); |
} |
ParamSet_ReadFromEEProm(getActiveParamSet()); |
ParamSet_ReadFromEEProm(); |
attitude_setNeutral(); |
flight_setNeutral(); |
controlMixer_setNeutral(); |
beepNumber(getActiveParamSet()); |
} else if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE |
| CFG_GPS_ACTIVE) && argument == 7) { |
// If right stick is centered and down |
// TODO: Out of here! State machine instead. |
compassCalState = 1; |
beep(1000); |
beepNumber(1); |
} |
} |
|
// save the ACC neutral setting to eeprom |
else { |
if (command == COMMAND_ACCCAL && !repeated) { |
else if (command == COMMAND_ACCCAL && !repeated) { |
// Run gyro and acc. meter calibration but do not repeat it. |
GRN_OFF; |
analog_calibrateAcc(); |
54,9 → 39,8 |
attitude_setNeutral(); |
flight_setNeutral(); |
controlMixer_setNeutral(); |
beepNumber(getActiveParamSet()); |
beepNumber(1); |
} |
} |
} // end !MOTOR_RUN condition. |
if (command == COMMAND_START) { |
isFlying = 1; // TODO: Really???? |