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|---|---|---|---|
| 1 | #include <stdlib.h> |
1 | #include <stdlib.h> |
| 2 | #include "commands.h" |
2 | #include "commands.h" |
| 3 | #include "controlMixer.h" |
3 | #include "controlMixer.h" |
| 4 | #include "flight.h" |
4 | #include "flight.h" |
| 5 | #include "eeprom.h" |
5 | #include "eeprom.h" |
| 6 | #include "attitude.h" |
6 | #include "attitude.h" |
| 7 | #include "output.h" |
7 | #include "output.h" |
| 8 | 8 | ||
| 9 | void commands_handleCommands(void) { |
9 | void commands_handleCommands(void) { |
| 10 | /* |
10 | /* |
| 11 | * Get the current command (start/stop motors, calibrate), if any. |
11 | * Get the current command (start/stop motors, calibrate), if any. |
| 12 | */ |
12 | */ |
| 13 | uint8_t command = controlMixer_getCommand(); |
13 | uint8_t command = controlMixer_getCommand(); |
| 14 | uint8_t repeated = controlMixer_isCommandRepeated(); |
14 | uint8_t repeated = controlMixer_isCommandRepeated(); |
| 15 | uint8_t argument = controlMixer_getArgument(); |
- | |
| 16 | 15 | ||
| 17 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
16 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| 18 | if (command == COMMAND_GYROCAL && !repeated) { |
17 | if (command == COMMAND_GYROCAL && !repeated) { |
| 19 | // Run gyro calibration but do not repeat it. |
18 | // Run gyro calibration but do not repeat it. |
| 20 | GRN_OFF; |
19 | GRN_OFF; |
| 21 | 20 | ||
| 22 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
21 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
| 23 | // isFlying = 0; |
22 | // isFlying = 0; |
| 24 | // check roll/pitch stick position |
23 | // check roll/pitch stick position |
| 25 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
24 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
| 26 | // according to roll/pitch stick position |
25 | // according to roll/pitch stick position |
| 27 | - | ||
| 28 | if (argument < 6) { |
- | |
| 29 | // Gyro calinbration, with or without selecting a new parameter-set. |
- | |
| 30 | if (argument > 0 && argument < 6) { |
- | |
| 31 | // A valid parameter-set (1..5) was chosen - use it. |
- | |
| 32 | setActiveParamSet(argument); |
- | |
| 33 | } |
26 | |
| 34 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
27 | ParamSet_ReadFromEEProm(); |
| 35 | attitude_setNeutral(); |
28 | attitude_setNeutral(); |
| 36 | flight_setNeutral(); |
29 | flight_setNeutral(); |
| 37 | controlMixer_setNeutral(); |
30 | controlMixer_setNeutral(); |
| 38 | beepNumber(getActiveParamSet()); |
- | |
| 39 | } else if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE |
- | |
| 40 | | CFG_GPS_ACTIVE) && argument == 7) { |
- | |
| 41 | // If right stick is centered and down |
- | |
| 42 | // TODO: Out of here! State machine instead. |
- | |
| 43 | compassCalState = 1; |
- | |
| 44 | beep(1000); |
31 | beepNumber(1); |
| 45 | } |
- | |
| 46 | } |
32 | } |
| 47 | 33 | ||
| 48 | // save the ACC neutral setting to eeprom |
34 | // save the ACC neutral setting to eeprom |
| 49 | else { |
- | |
| 50 | if (command == COMMAND_ACCCAL && !repeated) { |
35 | else if (command == COMMAND_ACCCAL && !repeated) { |
| 51 | // Run gyro and acc. meter calibration but do not repeat it. |
36 | // Run gyro and acc. meter calibration but do not repeat it. |
| 52 | GRN_OFF; |
37 | GRN_OFF; |
| 53 | analog_calibrateAcc(); |
38 | analog_calibrateAcc(); |
| 54 | attitude_setNeutral(); |
39 | attitude_setNeutral(); |
| 55 | flight_setNeutral(); |
40 | flight_setNeutral(); |
| 56 | controlMixer_setNeutral(); |
41 | controlMixer_setNeutral(); |
| 57 | beepNumber(getActiveParamSet()); |
42 | beepNumber(1); |
| 58 | } |
- | |
| 59 | } |
43 | } |
| 60 | } // end !MOTOR_RUN condition. |
44 | } // end !MOTOR_RUN condition. |
| 61 | if (command == COMMAND_START) { |
45 | if (command == COMMAND_START) { |
| 62 | isFlying = 1; // TODO: Really???? |
46 | isFlying = 1; // TODO: Really???? |
| 63 | // if (!controlMixer_isCommandRepeated()) { |
47 | // if (!controlMixer_isCommandRepeated()) { |
| 64 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
48 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
| 65 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
49 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
| 66 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
50 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
| 67 | // attitude_continueDynamicCalibration(); |
51 | // attitude_continueDynamicCalibration(); |
| 68 | // setPointYaw = 0; |
52 | // setPointYaw = 0; |
| 69 | // IPartPitch = 0; |
53 | // IPartPitch = 0; |
| 70 | // IPartRoll = 0; |
54 | // IPartRoll = 0; |
| 71 | // } |
55 | // } |
| 72 | } else if (command == COMMAND_STOP) { |
56 | } else if (command == COMMAND_STOP) { |
| 73 | isFlying = 0; |
57 | isFlying = 0; |
| 74 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
58 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| 75 | } |
59 | } |
| 76 | } |
60 | } |
| 77 | 61 | ||