Subversion Repositories FlightCtrl

#include <stdlib.h>
#include "commands.h"
#include "controlMixer.h"
#include "flight.h"
#include "eeprom.h"
#include "attitude.h"
#include "output.h"
#include "rc.h"

#ifdef USE_MK3MAG
// TODO: Kick that all outa here!
uint8_t compassCalState = 0;
#endif

void commands_handleCommands(void) {
  /*
   * Get the current command (start/stop motors, calibrate), if any.
   */
  uint8_t command = controlMixer_getCommand();
  uint8_t repeated = controlMixer_isCommandRepeated();
  uint8_t argument = controlMixer_getArgument();

  if (!(MKFlags & MKFLAG_MOTOR_RUN)) {
    if (command == COMMAND_GYROCAL && !repeated) {
      // Gyro calinbration, with or without selecting a new parameter-set.
      paramSet_readFromEEProm(1);
      analog_calibrateGyros();
      attitude_setNeutral();
      controlMixer_setNeutral();
      beepNumber(1);
    }

    // save the ACC neutral setting to eeprom
    /*
     else {
     if (command == COMMAND_ACCCAL && !repeated) {
     // Run gyro and acc. meter calibration but do not repeat it.
     analog_calibrateAcc();
     attitude_setNeutral();
     controlMixer_setNeutral();
     beepNumber(getActiveParamSet());
     }
     }
     */
  } // end !MOTOR_RUN condition.
}