| 0,0 → 1,76 |
|---|
| #include <stdlib.h> |
| #include "commands.h" |
| #include "controlMixer.h" |
| #include "flight.h" |
| #include "eeprom.h" |
| #include "attitude.h" |
| #include "output.h" |
| |
| 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 (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| if (command == COMMAND_GYROCAL && !repeated) { |
| // Run gyro calibration but do not repeat it. |
| GRN_OFF; |
| |
| // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
| // isFlying = 0; |
| // check roll/pitch stick position |
| // 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()); |
| 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); |
| } |
| } |
| |
| // save the ACC neutral setting to eeprom |
| else { |
| if (command == COMMAND_ACCCAL && !repeated) { |
| // Run gyro and acc. meter calibration but do not repeat it. |
| GRN_OFF; |
| analog_calibrateAcc(); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| controlMixer_setNeutral(); |
| beepNumber(getActiveParamSet()); |
| } |
| } |
| } // end !MOTOR_RUN condition. |
| if (command == COMMAND_START) { |
| isFlying = 1; // TODO: Really???? |
| // if (!controlMixer_isCommandRepeated()) { |
| // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
| MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
| // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
| // attitude_continueDynamicCalibration(); |
| // setPointYaw = 0; |
| // IPartPitch = 0; |
| // IPartRoll = 0; |
| // } |
| } else if (command == COMMAND_STOP) { |
| isFlying = 0; |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| } |
| } |