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         * Get the current command (start/stop motors, calibrate), if any.
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         * Get the current command (start/stop motors, calibrate), if any.
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         */
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         */
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        uint8_t command = controlMixer_getCommand();
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        uint8_t command = controlMixer_getCommand();
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        uint8_t repeated = controlMixer_isCommandRepeated();
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        uint8_t repeated = controlMixer_isCommandRepeated();
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        uint8_t argument = controlMixer_getArgument();
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        uint8_t argument = controlMixer_getArgument();
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        // TODO! Mode change gadget of some kind.
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        if (!isFlying) {
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        if (!isFlying) {
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                if (command == COMMAND_GYROCAL && !repeated) {
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                if (command == COMMAND_GYROCAL && !repeated) {
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                        // Gyro calinbration, with or without selecting a new parameter-set.
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                        // Gyro calinbration, with or without selecting a new parameter-set.
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                        paramSet_readFromEEProm(1);
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                        paramSet_readFromEEProm(1);
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                        analog_calibrate();
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                        analog_calibrate();