| 7,32 → 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) { |
| if (command == COMMAND_RCCAL && !repeated) { |
| RC_calibrate(); |
| rcTrim_writeToEEProm(); |
| beepNumber(2); // 2 beeps means RC. |
| } else if (command == COMMAND_GYROCAL && !repeated) { |
| // Gyro calinbration, with or without selecting a new parameter-set. |
| paramSet_readFromEEProm(1); |
| // paramSet_readFromEEProm(1); |
| analog_calibrate(); |
| attitude_setNeutral(); |
| controlMixer_setNeutral(); |
| |
| RC_calibrate(); |
| rcTrim_writeToEEProm(); |
| |
| beepNumber(1); |
| beepNumber(1); // 1 beep means gyro. |
| } else if (command == COMMAND_CHMOD && !repeated) { |
| configuration_setFlightParameters(argument); |
| } |
| } // end !MOTOR_RUN condition. |
| } |
| } |