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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | #include <stdlib.h> |
1 | #include <stdlib.h> |
53 | #include "commands.h" |
2 | #include "commands.h" |
54 | #include "controlMixer.h" |
3 | #include "controlMixer.h" |
55 | #include "flight.h" |
4 | #include "flight.h" |
56 | #include "eeprom.h" |
5 | #include "eeprom.h" |
57 | #include "attitude.h" |
6 | #include "attitude.h" |
58 | #include "output.h" |
7 | #include "output.h" |
59 | #include "rc.h" |
8 | #include "rc.h" |
60 | 9 | ||
61 | #ifdef USE_MK3MAG |
10 | #ifdef USE_MK3MAG |
62 | // TODO: Kick that all outa here! |
11 | // TODO: Kick that all outa here! |
63 | uint8_t compassCalState = 0; |
12 | uint8_t compassCalState = 0; |
64 | #endif |
13 | #endif |
65 | 14 | ||
66 | void commands_handleCommands(void) { |
15 | void commands_handleCommands(void) { |
67 | /* |
16 | /* |
68 | * Get the current command (start/stop motors, calibrate), if any. |
17 | * Get the current command (start/stop motors, calibrate), if any. |
69 | */ |
18 | */ |
70 | uint8_t command = controlMixer_getCommand(); |
19 | uint8_t command = controlMixer_getCommand(); |
71 | uint8_t repeated = controlMixer_isCommandRepeated(); |
20 | uint8_t repeated = controlMixer_isCommandRepeated(); |
72 | uint8_t argument = controlMixer_getArgument(); |
21 | uint8_t argument = controlMixer_getArgument(); |
73 | 22 | ||
74 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
23 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
75 | if (command == COMMAND_GYROCAL && !repeated) { |
24 | if (command == COMMAND_GYROCAL && !repeated) { |
76 | // Run gyro calibration but do not repeat it. |
25 | // Run gyro calibration but do not repeat it. |
77 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
26 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
78 | // isFlying = 0; |
27 | // isFlying = 0; |
79 | // check roll/pitch stick position |
28 | // check roll/pitch stick position |
80 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
29 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
81 | // according to roll/pitch stick position |
30 | // according to roll/pitch stick position |
82 | 31 | ||
83 | if (argument < 6) { |
32 | if (argument < 6) { |
84 | // Gyro calinbration, with or without selecting a new parameter-set. |
33 | // Gyro calinbration, with or without selecting a new parameter-set. |
85 | if (argument > 0 && argument < 6) { |
34 | if (argument > 0 && argument < 6) { |
86 | // A valid parameter-set (1..5) was chosen - use it. |
35 | // A valid parameter-set (1..5) was chosen - use it. |
87 | setActiveParamSet(argument); |
36 | setActiveParamSet(argument); |
88 | } |
37 | } |
89 | paramSet_readFromEEProm(getActiveParamSet()); |
38 | paramSet_readFromEEProm(getActiveParamSet()); |
90 | analog_calibrateGyros(); |
39 | analog_calibrateGyros(); |
91 | attitude_setNeutral(); |
40 | attitude_setNeutral(); |
92 | controlMixer_setNeutral(); |
41 | controlMixer_setNeutral(); |
93 | beepNumber(getActiveParamSet()); |
42 | beepNumber(getActiveParamSet()); |
94 | } |
43 | } |
95 | #ifdef USE_MK3MAG |
44 | #ifdef USE_MK3MAG |
96 | else if ((staticParams.bitConfig & CFG_COMPASS_ENABLED) && argument == 7) { |
45 | else if ((staticParams.bitConfig & CFG_COMPASS_ENABLED) && argument == 7) { |
97 | // If right stick is centered and down |
46 | // If right stick is centered and down |
98 | compassCalState = 1; |
47 | compassCalState = 1; |
99 | beep(1000); |
48 | beep(1000); |
100 | } |
49 | } |
101 | #endif |
50 | #endif |
102 | } |
51 | } |
103 | 52 | ||
104 | // save the ACC neutral setting to eeprom |
53 | // save the ACC neutral setting to eeprom |
105 | else { |
54 | else { |
106 | if (command == COMMAND_ACCCAL && !repeated) { |
55 | if (command == COMMAND_ACCCAL && !repeated) { |
107 | // Run gyro and acc. meter calibration but do not repeat it. |
56 | // Run gyro and acc. meter calibration but do not repeat it. |
108 | analog_calibrateAcc(); |
57 | analog_calibrateAcc(); |
109 | attitude_setNeutral(); |
58 | attitude_setNeutral(); |
110 | controlMixer_setNeutral(); |
59 | controlMixer_setNeutral(); |
111 | beepNumber(getActiveParamSet()); |
60 | beepNumber(getActiveParamSet()); |
112 | } |
61 | } |
113 | } |
62 | } |
114 | } // end !MOTOR_RUN condition. |
63 | } // end !MOTOR_RUN condition. |
115 | if (command == COMMAND_START) { |
64 | if (command == COMMAND_START) { |
116 | isFlying = 1; // TODO: Really???? |
65 | isFlying = 1; // TODO: Really???? |
117 | // if (!controlMixer_isCommandRepeated()) { |
66 | // if (!controlMixer_isCommandRepeated()) { |
118 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
67 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
119 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
68 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
120 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
69 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
121 | // attitude_continueDynamicCalibration(); |
70 | // attitude_continueDynamicCalibration(); |
122 | // setPointYaw = 0; |
71 | // setPointYaw = 0; |
123 | // IPartPitch = 0; |
72 | // IPartPitch = 0; |
124 | // IPartRoll = 0; |
73 | // IPartRoll = 0; |
125 | // } |
74 | // } |
126 | } else if (command == COMMAND_STOP) { |
75 | } else if (command == COMMAND_STOP) { |
127 | isFlying = 0; |
76 | isFlying = 0; |
128 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
77 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
129 | } |
78 | } |
130 | } |
79 | } |
131 | 80 | ||
132 | /* |
81 | /* |
133 | * if (controlMixer_testCompassCalState()) { |
82 | * if (controlMixer_testCompassCalState()) { |
134 | compassCalState++; |
83 | compassCalState++; |
135 | if (compassCalState < 5) |
84 | if (compassCalState < 5) |
136 | beepNumber(compassCalState); |
85 | beepNumber(compassCalState); |
137 | else |
86 | else |
138 | beep(1000); |
87 | beep(1000); |
139 | } |
88 | } |
140 | * |
89 | * |
141 | */ |
90 | */ |
142 | 91 | ||
143 | #ifdef USE_MK3MAG |
92 | #ifdef USE_MK3MAG |
144 | uint8_t commands_isCalibratingCompass(void) { |
93 | uint8_t commands_isCalibratingCompass(void) { |
145 | return RC_testCompassCalState(); |
94 | return RC_testCompassCalState(); |
146 | } |
95 | } |
147 | #endif |
96 | #endif |
148 | 97 |