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Rev 2097 Rev 2189
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#include <stdlib.h>
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#include <stdlib.h>
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#include "commands.h"
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#include "commands.h"
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#include "controlMixer.h"
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#include "controlMixer.h"
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#include "flight.h"
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#include "flight.h"
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#include "eeprom.h"
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#include "eeprom.h"
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#include "analog.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 "configuration.h"
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#include "rc.h"
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#include "beeper.h"
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#ifdef USE_MK3MAG
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#ifdef USE_MK3MAG
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// TODO: Kick that all outa here!
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// TODO: Kick that all outa here!
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uint8_t compassCalState = 0;
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uint8_t compassCalState;
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#endif
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#endif
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void commands_handleCommands(void) {
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void commands_handleCommands(void) {
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        /*
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  /*
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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 repeated = controlMixer_isCommandRepeated();
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  uint8_t command = controlMixer_getCommand();
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        uint8_t argument = controlMixer_getArgument();
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  uint8_t repeated = controlMixer_isCommandRepeated();
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  if (!(MKFlags & MKFLAG_MOTOR_RUN)) {
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        if (!(MKFlags & MKFLAG_MOTOR_RUN)) {
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    uint8_t argument = controlMixer_getArgument();
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                if (command == COMMAND_GYROCAL && !repeated) {
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    if ((command==COMMAND_GYROCAL || command==COMMAND_GYRO_ACC_CAL) && !repeated) {
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                        // Run gyro calibration but do not repeat it.
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      // Run gyro calibration but do not repeat it.
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                        // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough?
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      // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough?
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                        // isFlying = 0;
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      // isFlying = 0;
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                        // check roll/pitch stick position
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      // check roll/pitch stick position
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                        // if pitch stick is top or roll stick is left or right --> change parameter setting
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      // if pitch stick is top or roll stick is left or right --> change parameter setting
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                        // according to roll/pitch stick position
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      // according to roll/pitch stick position
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                        if (argument < 6) {
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      if (argument < 6) {
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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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                                if (argument > 0 && argument < 6) {
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        if (argument > 0 && argument < 6) {
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                                        // A valid parameter-set (1..5) was chosen - use it.
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          // A valid parameter-set (1..5) was chosen - use it.
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                                        setActiveParamSet(argument);
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          setActiveParamSet(argument);
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                                }
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        }
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                                paramSet_readFromEEProm(getActiveParamSet());
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        paramSet_readFromEEProm(getActiveParamSet());
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                                analog_calibrateGyros();
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        analog_calibrateGyros();
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        attitude_setNeutral();
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                                attitude_setNeutral();
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        controlMixer_setNeutral();
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                                controlMixer_setNeutral();
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        flight_setGround();
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                                beepNumber(getActiveParamSet());
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        beepNumber(getActiveParamSet());
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                        }
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      }
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#ifdef USE_MK3MAG
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#ifdef USE_MK3MAG
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                        else if ((staticParams.bitConfig & CFG_COMPASS_ENABLED) && argument == 7) {
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      else if ((staticParams.bitConfig & CFG_COMPASS_ENABLED) && argument == 7) {
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                                // If right stick is centered and down
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        // If right stick is centered and down
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                                compassCalState = 1;
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        compassCalState = 1;
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                                beep(1000);
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        beep(1000);
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                        }
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      }
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#endif
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#endif
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                }
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    }
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                // save the ACC neutral setting to eeprom
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                else {
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    // save the ACC neutral setting to eeprom
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                        if (command == COMMAND_ACCCAL && !repeated) {
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    if ((command==COMMAND_ACCCAL || command==COMMAND_GYRO_ACC_CAL)  && !repeated) {
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                                // Run gyro and acc. meter calibration but do not repeat it.
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      // Run gyro and acc. meter calibration but do not repeat it.
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                                analog_calibrateAcc();
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      analog_calibrateAcc();
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                                attitude_setNeutral();
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      attitude_setNeutral();
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                                controlMixer_setNeutral();
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                                beepNumber(getActiveParamSet());
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      controlMixer_setNeutral();
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                        }
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      beepNumber(getActiveParamSet());
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                }
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    }
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        } // end !MOTOR_RUN condition.
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  } // end !MOTOR_RUN condition.
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        if (command == COMMAND_START) {
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  if (command == COMMAND_START) {
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                isFlying = 1; // TODO: Really????
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    isFlying = 1; // TODO: Really????
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                // if (!controlMixer_isCommandRepeated()) {
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    // if (!controlMixer_isCommandRepeated()) {
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                // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors.
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    // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors.
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                MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all???
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    MKFlags |= MKFLAG_MOTOR_RUN;
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                // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors.
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    // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors.
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                // attitude_continueDynamicCalibration();
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    // attitude_continueDynamicCalibration();
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                // setPointYaw = 0;
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    // setPointYaw = 0;
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                // IPartPitch = 0;
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    // IPartPitch = 0;
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                // IPartRoll = 0;
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    // IPartRoll = 0;
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                // }
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    // }
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        } else if (command == COMMAND_STOP) {
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  } else if (command == COMMAND_STOP) {
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                isFlying = 0;
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    isFlying = 0;
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                MKFlags &= ~(MKFLAG_MOTOR_RUN);
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    MKFlags &= ~(MKFLAG_MOTOR_RUN);
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        }
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  }
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}
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}
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/*
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/*
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 *     if (controlMixer_testCompassCalState()) {
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 *     if (controlMixer_testCompassCalState()) {
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      compassCalState++;
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 compassCalState++;
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      if (compassCalState < 5)
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 if (compassCalState < 5)
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        beepNumber(compassCalState);
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 beepNumber(compassCalState);
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      else
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 else
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        beep(1000);
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 beep(1000);
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    }
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 }