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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 | #include "rc.h" |
8 | #include "rc.h" |
| 9 | 9 | ||
| 10 | #ifdef USE_MK3MAG |
10 | #ifdef USE_MK3MAG |
| 11 | // TODO: Kick that all outa here! |
11 | // TODO: Kick that all outa here! |
| 12 | uint8_t compassCalState = 0; |
12 | uint8_t compassCalState = 0; |
| 13 | #endif |
13 | #endif |
| 14 | 14 | ||
| 15 | void commands_handleCommands(void) { |
15 | void commands_handleCommands(void) { |
| 16 | /* |
16 | /* |
| 17 | * Get the current command (start/stop motors, calibrate), if any. |
17 | * Get the current command (start/stop motors, calibrate), if any. |
| 18 | */ |
18 | */ |
| 19 | uint8_t command = controlMixer_getCommand(); |
19 | uint8_t command = controlMixer_getCommand(); |
| 20 | uint8_t repeated = controlMixer_isCommandRepeated(); |
20 | uint8_t repeated = controlMixer_isCommandRepeated(); |
| 21 | uint8_t argument = controlMixer_getArgument(); |
21 | uint8_t argument = controlMixer_getArgument(); |
| 22 | 22 | ||
| 23 | // TODO! Mode change gadget of some kind. |
23 | // TODO! Mode change gadget of some kind. |
| 24 | if (!isMotorRunning) { |
24 | if (!isMotorRunning) { |
| 25 | if (command == COMMAND_GYROCAL && !repeated) { |
25 | if (command == COMMAND_GYROCAL && !repeated) { |
| 26 | // Gyro calinbration, with or without selecting a new parameter-set. |
26 | // Gyro calinbration, with or without selecting a new parameter-set. |
| 27 | paramSet_readFromEEProm(1); |
27 | paramSet_readFromEEProm(1); |
| 28 | analog_calibrateGyros(); |
28 | analog_calibrate(); |
| 29 | attitude_setNeutral(); |
29 | attitude_setNeutral(); |
| 30 | controlMixer_setNeutral(); |
30 | controlMixer_setNeutral(); |
| 31 | beepNumber(1); |
31 | beepNumber(1); |
| 32 | } else if (command == COMMAND_CHMOD && !repeated) { |
32 | } else if (command == COMMAND_CHMOD && !repeated) { |
| 33 | configuration_setFlightParameters(argument); |
33 | configuration_setFlightParameters(argument); |
| 34 | } |
34 | } |
| 35 | } // end !MOTOR_RUN condition. |
35 | } // end !MOTOR_RUN condition. |
| 36 | } |
36 | } |
| 37 | 37 | ||