void sio_fp_data( unsigned char inchar )
{
if (inchar == '*')
{
fp_high_byte = -1 ;
sio_parse = &sio_fp_checksum ;
}
else
{
char hexVal = hex_char_val(inchar) ;
if (hexVal == -1)
{
sio_parse = &sio_newMsg ;
return ;
}
else if (fp_high_byte == -1)
{
fp_high_byte = hexVal * 16 ;
}
else
{
flightplan_live_received_byte(fp_high_byte + hexVal) ;
fp_high_byte = -1 ;
}
fp_checksum += inchar ;
}
return ;
}
static int sil_handle_key_input(char c)
{
switch (inputState) {
case 0:
{
switch (c) {
case '?':
printf("\n");
print_help();
break;
case 'w':
hilsim_input_adjust("throttle", KEYPRESS_INPUT_DELTA*2);
break;
case 's':
hilsim_input_adjust("throttle", -KEYPRESS_INPUT_DELTA*2);
break;
case 'a':
hilsim_input_adjust("rudder", KEYPRESS_INPUT_DELTA);
break;
case 'd':
hilsim_input_adjust("rudder", -KEYPRESS_INPUT_DELTA);
break;
case 'i':
hilsim_input_adjust("elevator", KEYPRESS_INPUT_DELTA);
break;
case 'k':
hilsim_input_adjust("elevator", -KEYPRESS_INPUT_DELTA);
break;
case 'j':
hilsim_input_adjust("aileron", KEYPRESS_INPUT_DELTA);
break;
case 'l':
hilsim_input_adjust("aileron", -KEYPRESS_INPUT_DELTA);
break;
case 'z':
hilsim_input_adjust("stick", 0);
break;
case '1': // switch mode to manual
hilsim_input_adjust("mode", 1);
break;
case '2': // switch mode to stabilised
hilsim_input_adjust("mode", 2);
break;
case '3': // switch mode to guided
hilsim_input_adjust("mode", 3);
break;
case '4': // switch mode to failsafe
hilsim_input_adjust("mode", 4);
break;
case '0':
sil_radio_on = !sil_radio_on;
printf("\nRadio %s\n", (sil_radio_on) ? "On" : "Off");
break;
case ';':
showLEDs = !showLEDs;
if (showLEDs) {
printf("\n");
print_LED_status();
}
break;
#if (FLIGHT_PLAN_TYPE == FP_LOGO)
case 'x':
inputState = 1;
break;
#endif
case 'r':
printf("\nReally reset? (y/N)");
fflush(stdout);
inputState = 2;
break;
case '9':
printf("Saving Params to ini file\r\n");
config_save();
break;
default:
return 0;
}
break;
}
case 1:
{
if (c >= '0' && c <= '9') {
printf("\nExecuting LOGO subroutine #%c\n", c);
flightplan_live_begin() ;
flightplan_live_received_byte(10) ; // Exec command
flightplan_live_received_byte(c-'0') ; // Subroutine #
flightplan_live_received_byte(0) ; // Don't use param or set fly bit
flightplan_live_received_byte(0) ; // Exec command
flightplan_live_received_byte(0) ; // Exec command
flightplan_live_commit() ;
}
inputState = 0;
break;
}
case 2:
{
if (c == 'y') {
printf("\nReset MatrixPilot...\n\n\n");
sil_reset();
}
inputState = 0;
break;
}
}
return 1;
}
void sil_handle_key_input(char c)
{
switch (inputState) {
case 0:
{
switch (c) {
case '?':
printf("\n");
print_help();
break;
case 'w':
sil_rc_input_adjust("throttle", THROTTLE_INPUT_CHANNEL, KEYPRESS_INPUT_DELTA*2);
break;
case 's':
sil_rc_input_adjust("throttle", THROTTLE_INPUT_CHANNEL, -KEYPRESS_INPUT_DELTA*2);
break;
case 'a':
sil_rc_input_adjust("rudder", RUDDER_INPUT_CHANNEL, KEYPRESS_INPUT_DELTA);
break;
case 'd':
sil_rc_input_adjust("rudder", RUDDER_INPUT_CHANNEL, -KEYPRESS_INPUT_DELTA);
break;
case 'i':
sil_rc_input_adjust("elevator", ELEVATOR_INPUT_CHANNEL, KEYPRESS_INPUT_DELTA);
break;
case 'k':
sil_rc_input_adjust("elevator", ELEVATOR_INPUT_CHANNEL, -KEYPRESS_INPUT_DELTA);
break;
case 'j':
sil_rc_input_adjust("aileron", AILERON_INPUT_CHANNEL, KEYPRESS_INPUT_DELTA);
break;
case 'l':
sil_rc_input_adjust("aileron", AILERON_INPUT_CHANNEL, -KEYPRESS_INPUT_DELTA);
break;
case 'z':
printf("\naileron, elevator, rudder = 0%%\n");
udb_pwIn[AILERON_INPUT_CHANNEL] = udb_pwTrim[AILERON_INPUT_CHANNEL];
udb_pwIn[ELEVATOR_INPUT_CHANNEL] = udb_pwTrim[ELEVATOR_INPUT_CHANNEL];
udb_pwIn[RUDDER_INPUT_CHANNEL] = udb_pwTrim[RUDDER_INPUT_CHANNEL];
break;
case '1':
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_LOW - 1;
break;
case '2':
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_LOW + 1;
break;
case '3':
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_HIGH + 1;
break;
case '0':
sil_radio_on = !sil_radio_on;
printf("\nRadio %s\n", (sil_radio_on) ? "On" : "Off");
break;
case 'L':
showLEDs = !showLEDs;
if (showLEDs) {
printf("\n");
print_LED_status();
}
break;
#if (FLIGHT_PLAN_TYPE == FP_LOGO)
case 'x':
inputState = 1;
break;
#endif
case 'r':
printf("\nReally reset? (y/N)");
fflush(stdout);
inputState = 2;
break;
default:
break;
}
break;
}
case 1:
{
if (c >= '0' && c <= '9') {
printf("\nExecuting LOGO subroutine #%c\n", c);
flightplan_live_begin() ;
flightplan_live_received_byte(10) ; // Exec command
flightplan_live_received_byte(c-'0') ; // Subroutine #
flightplan_live_received_byte(0) ; // Don't use param or set fly bit
flightplan_live_received_byte(0) ; // Exec command
flightplan_live_received_byte(0) ; // Exec command
flightplan_live_commit() ;
}
inputState = 0;
break;
}
case 2:
{
if (c == 'y') {
printf("\nReset MatrixPilot...\n\n\n");
sil_reset();
}
inputState = 0;
}
}
}
