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| Rev 1796 | Rev 1821 | ||
|---|---|---|---|
| Line 55... | Line 55... | ||
| 55 | #include "flight.h" |
55 | #include "flight.h" |
| 56 | #include "eeprom.h" |
56 | #include "eeprom.h" |
| 57 | #include "attitude.h" |
57 | #include "attitude.h" |
| Line 58... | Line 58... | ||
| 58 | 58 | ||
| 59 | void commands_handleCommands(void) { |
59 | void commands_handleCommands(void) { |
| 60 | /* |
60 | /* |
| 61 | * Get the current command (start/stop motors, calibrate), if any. |
61 | * Get the current command (start/stop motors, calibrate), if any. |
| 62 | */ |
62 | */ |
| 63 | uint8_t command = controlMixer_getCommand(); |
63 | uint8_t command = controlMixer_getCommand(); |
| 64 | uint8_t repeated = controlMixer_isCommandRepeated(); |
64 | uint8_t repeated = controlMixer_isCommandRepeated(); |
| Line 65... | Line 65... | ||
| 65 | uint8_t argument = controlMixer_getArgument(); |
65 | uint8_t argument = controlMixer_getArgument(); |
| 66 | 66 | ||
| 67 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) { |
67 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| 68 | if (command == COMMAND_GYROCAL && !repeated) { |
68 | if (command == COMMAND_GYROCAL && !repeated) { |
| 69 | // Run gyro calibration but do not repeat it. |
- | |
| 70 | GRN_OFF; |
- | |
| 71 | - | ||
| 72 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
- | |
| 73 | // isFlying = 0; |
- | |
| 74 | // check roll/pitch stick position |
- | |
| Line -... | Line 69... | ||
| - | 69 | // Run gyro calibration but do not repeat it. |
|
| - | 70 | GRN_OFF; |
|
| - | 71 | ||
| - | 72 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
|
| - | 73 | // isFlying = 0; |
|
| - | 74 | // check roll/pitch stick position |
|
| 75 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
75 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
| 76 | // according to roll/pitch stick position |
76 | // according to roll/pitch stick position |
| 77 | 77 | ||
| 78 | if (argument < 6) { |
78 | if (argument < 6) { |
| 79 | // Gyro calinbration, with or without selecting a new parameter-set. |
79 | // Gyro calinbration, with or without selecting a new parameter-set. |
| 80 | if(argument > 0 && argument < 6) { |
80 | if (argument > 0 && argument < 6) { |
| 81 | // A valid parameter-set (1..5) was chosen - use it. |
81 | // A valid parameter-set (1..5) was chosen - use it. |
| 82 | setActiveParamSet(argument); |
82 | setActiveParamSet(argument); |
| 83 | } |
83 | } |
| 84 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
84 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
| 85 | attitude_setNeutral(); |
85 | attitude_setNeutral(); |
| 86 | flight_setNeutral(); |
86 | flight_setNeutral(); |
| - | 87 | controlMixer_setNeutral(); |
|
| 87 | controlMixer_setNeutral(); |
88 | beepNumber(getActiveParamSet()); |
| 88 | beepNumber(getActiveParamSet()); |
89 | } else if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE |
| 89 | } else if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE) && argument == 7) { |
90 | | CFG_GPS_ACTIVE) && argument == 7) { |
| 90 | // If right stick is centered and down |
91 | // If right stick is centered and down |
| 91 | // TODO: Out of here! State machine instead. |
92 | // TODO: Out of here! State machine instead. |
| 92 | compassCalState = 1; |
93 | compassCalState = 1; |
| Line 93... | Line 94... | ||
| 93 | beep(1000); |
94 | beep(1000); |
| 94 | } |
95 | } |
| 95 | } |
96 | } |
| 96 | 97 | ||
| 97 | // save the ACC neutral setting to eeprom |
98 | // save the ACC neutral setting to eeprom |
| 98 | else { |
99 | else { |
| 99 | if(command == COMMAND_ACCCAL && !repeated) { |
100 | if (command == COMMAND_ACCCAL && !repeated) { |
| 100 | // Run gyro and acc. meter calibration but do not repeat it. |
101 | // Run gyro and acc. meter calibration but do not repeat it. |
| 101 | GRN_OFF; |
102 | GRN_OFF; |
| 102 | analog_calibrateAcc(); |
103 | analog_calibrateAcc(); |
| 103 | attitude_setNeutral(); |
104 | attitude_setNeutral(); |
| 104 | flight_setNeutral(); |
105 | flight_setNeutral(); |
| 105 | controlMixer_setNeutral(); |
106 | controlMixer_setNeutral(); |
| 106 | beepNumber(getActiveParamSet()); |
107 | beepNumber(getActiveParamSet()); |
| 107 | } |
108 | } |
| 108 | } |
109 | } |
| 109 | } // end !MOTOR_RUN condition. |
110 | } // end !MOTOR_RUN condition. |
| 110 | if (command == COMMAND_START) { |
111 | if (command == COMMAND_START) { |
| 111 | isFlying = 1; // TODO: Really???? |
112 | isFlying = 1; // TODO: Really???? |
| 112 | // if (!controlMixer_isCommandRepeated()) { |
113 | // if (!controlMixer_isCommandRepeated()) { |
| 113 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
114 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
| 114 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
115 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
| 115 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
116 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
| 116 | // attitude_continueDynamicCalibration(); |
117 | // attitude_continueDynamicCalibration(); |
| 117 | // setPointYaw = 0; |
118 | // setPointYaw = 0; |
| 118 | // IPartPitch = 0; |
119 | // IPartPitch = 0; |
| 119 | // IPartRoll = 0; |
120 | // IPartRoll = 0; |
| 120 | // } |
121 | // } |
| 121 | } else if (command == COMMAND_STOP) { |
122 | } else if (command == COMMAND_STOP) { |