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Rev 1796 | Rev 1821 | ||
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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) { |