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Rev 2122 Rev 2124
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#include "eeprom.h"
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#include "eeprom.h"
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#include "attitude.h"
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#include "attitude.h"
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#include "output.h"
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#include "output.h"
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#include "rc.h"
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#include "rc.h"
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#ifdef USE_MK3MAG
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// TODO: Kick that all outa here!
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uint8_t compassCalState = 0;
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#endif
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void commands_handleCommands(void) {
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        /*
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         * Get the current command (start/stop motors, calibrate), if any.
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         */
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void commands_handleCommands(void) {
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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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        if (!isFlying) {
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        if (!isFlying) {
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                if (command == COMMAND_RCCAL && !repeated) {
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                        RC_calibrate();
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                        rcTrim_writeToEEProm();
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                        beepNumber(2);  // 2 beeps means RC.
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                if (command == COMMAND_GYROCAL && !repeated) {
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                } else 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();
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                        attitude_setNeutral();
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                        attitude_setNeutral();
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                        controlMixer_setNeutral();
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                        RC_calibrate();
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                        rcTrim_writeToEEProm();
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                        controlMixer_setNeutral();
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                        beepNumber(1);
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                        beepNumber(1);  // 1 beep means gyro.
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                } else if (command == COMMAND_CHMOD && !repeated) {
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                } else if (command == COMMAND_CHMOD && !repeated) {
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                        configuration_setFlightParameters(argument);
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                        configuration_setFlightParameters(argument);
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                }
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                }
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        } // end !MOTOR_RUN condition.
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        }