Rev 1927 | Rev 2102 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1927 | Rev 2099 | ||
|---|---|---|---|
| Line 3... | Line 3... | ||
| 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" |
|
| Line 8... | Line 9... | ||
| 8 | 9 | ||
| 9 | void commands_handleCommands(void) { |
- | |
| 10 | /* |
- | |
| 11 | * Get the current command (start/stop motors, calibrate), if any. |
- | |
| 12 | */ |
10 | #ifdef USE_MK3MAG |
| 13 | uint8_t command = controlMixer_getCommand(); |
11 | // TODO: Kick that all outa here! |
| 14 | uint8_t repeated = controlMixer_isCommandRepeated(); |
- | |
| 15 | - | ||
| 16 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
- | |
| 17 | if (command == COMMAND_GYROCAL && !repeated) { |
- | |
| 18 | // Run gyro calibration but do not repeat it. |
12 | uint8_t compassCalState = 0; |
| Line -... | Line 13... | ||
| - | 13 | #endif |
|
| - | 14 | ||
| 19 | GRN_OFF; |
15 | void commands_handleCommands(void) { |
| 20 | 16 | /* |
|
| 21 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
17 | * Get the current command (start/stop motors, calibrate), if any. |
| 22 | // isFlying = 0; |
18 | */ |
| 23 | // check roll/pitch stick position |
19 | uint8_t command = controlMixer_getCommand(); |
| Line -... | Line 20... | ||
| - | 20 | uint8_t repeated = controlMixer_isCommandRepeated(); |
|
| - | 21 | uint8_t argument = controlMixer_getArgument(); |
|
| - | 22 | ||
| 24 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
23 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| 25 | // according to roll/pitch stick position |
24 | if (command == COMMAND_GYROCAL && !repeated) { |
| 26 | 25 | // Gyro calinbration, with or without selecting a new parameter-set. |
|
| 27 | ParamSet_ReadFromEEProm(); |
26 | paramSet_readFromEEProm(1); |
| 28 | attitude_setNeutral(); |
27 | analog_calibrateGyros(); |
| 29 | flight_setNeutral(); |
28 | attitude_setNeutral(); |
| Line 30... | Line 29... | ||
| 30 | controlMixer_setNeutral(); |
29 | controlMixer_setNeutral(); |
| - | 30 | beepNumber(1); |
|
| - | 31 | } |
|
| 31 | beepNumber(1); |
32 | |
| 32 | } |
33 | // save the ACC neutral setting to eeprom |
| 33 | - | ||
| 34 | // save the ACC neutral setting to eeprom |
34 | /* |
| 35 | else if (command == COMMAND_ACCCAL && !repeated) { |
35 | else { |
| 36 | // Run gyro and acc. meter calibration but do not repeat it. |
- | |
| 37 | GRN_OFF; |
36 | if (command == COMMAND_ACCCAL && !repeated) { |
| 38 | analog_calibrateAcc(); |
37 | // Run gyro and acc. meter calibration but do not repeat it. |
| 39 | attitude_setNeutral(); |
38 | analog_calibrateAcc(); |
| 40 | flight_setNeutral(); |
- | |
| 41 | controlMixer_setNeutral(); |
- | |
| 42 | beepNumber(1); |
- | |
| 43 | } |
- | |
| 44 | } // end !MOTOR_RUN condition. |
- | |
| 45 | if (command == COMMAND_START) { |
- | |
| 46 | isFlying = 1; // TODO: Really???? |
- | |
| 47 | // if (!controlMixer_isCommandRepeated()) { |
- | |
| 48 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
- | |
| 49 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
- | |
| 50 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
- | |
| 51 | // attitude_continueDynamicCalibration(); |
39 | attitude_setNeutral(); |
| 52 | // setPointYaw = 0; |
- | |
| 53 | // IPartPitch = 0; |
40 | controlMixer_setNeutral(); |
| 54 | // IPartRoll = 0; |
41 | beepNumber(getActiveParamSet()); |
| 55 | // } |
- | |
| 56 | } else if (command == COMMAND_STOP) { |
42 | } |