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Decouple sticks processing code from main mw loops.

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Decouple led ring driver from non-driver code.
This commit is contained in:
Dominic Clifton 2014-06-01 18:36:33 +01:00
parent fd0b7cdf80
commit 18046013a4
16 changed files with 267 additions and 165 deletions
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10
src/main/config/config.c
View file

@ -26,9 +26,9 @@
#include "sensors/battery.h"
#include "io/gimbal.h"
#include "io/escservo.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "io/rc_curves.h"
#include "rx/rx.h"
#include "io/gps.h"
#include "flight/failsafe.h"
@ -538,6 +538,14 @@ void saveAndReloadCurrentProfileToCurrentProfileSlot(void)
readEEPROMAndNotify();
}
void changeProfile(uint8_t profileIndex)
{
masterConfig.current_profile_index = profileIndex;
writeEEPROM();
readEEPROM();
blinkLedAndSoundBeeper(2, 40, profileIndex);
}
bool feature(uint32_t mask)
{
return masterConfig.enabledFeatures & mask;

1
src/main/config/config.h
View file

@ -34,6 +34,7 @@ void readEEPROMAndNotify(void);
void writeEEPROM();
void ensureEEPROMContainsValidData(void);
void saveAndReloadCurrentProfileToCurrentProfileSlot(void);
void changeProfile(uint8_t profileIndex);
bool canSoftwareSerialBeUsed(void);

10
src/main/drivers/light_ledring.c
View file

@ -10,10 +10,10 @@
#include "bus_i2c.h"
// FIXME there should be no dependencies on the main source code
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "sensors/sensors.h"
#include "flight/flight.h"
//#include "io/escservo.h"
//#include "io/rc_controls.h"
//#include "sensors/sensors.h"
//#include "flight/flight.h"
#include "light_ledring.h"
@ -32,7 +32,7 @@ bool ledringDetect(void)
}
// pitch/roll are absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
void ledringState(bool armed, int16_t pitch, int16_t roll)
void ledringState(bool armed, int16_t pitch, int16_t roll, int16_t heading)
{
uint8_t b[10];
static uint8_t state;

2
src/main/drivers/light_ledring.h
View file

@ -1,5 +1,5 @@
#pragma once
bool ledringDetect(void);
void ledringState(bool armed, int16_t pitch, int16_t roll);
void ledringState(bool armed, int16_t pitch, int16_t roll, int16_t heading);
void ledringBlink(void);

2
src/main/flight/failsafe.c
View file

@ -3,9 +3,9 @@
#include "common/axis.h"
#include "rx/rx.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "rx/rx.h"
#include "config/runtime_config.h"
#include "flight/failsafe.h"

1
src/main/flight/flight.c
View file

@ -7,6 +7,7 @@
#include "config/runtime_config.h"
#include "rx/rx.h"
#include "drivers/accgyro.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"

2
src/main/flight/imu.c
View file

@ -28,9 +28,9 @@
// FIXME remove dependency on config.h
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
#include "rx/rx.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "rx/rx.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "telemetry/telemetry.h"

2
src/main/flight/mixer.c
View file

@ -11,10 +11,10 @@
#include "drivers/timer.h"
#include "drivers/pwm_output.h"
#include "rx/rx.h"
#include "io/gimbal.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "rx/rx.h"
#include "flight/mixer.h"
#include "flight/flight.h"

164
src/main/io/rc_controls.c
View file

@ -1,15 +1,179 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "common/axis.h"
#include "common/maths.h"
#include "config/config.h"
#include "config/runtime_config.h"
#include "flight/flight.h"
#include "drivers/accgyro.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
#include "io/gps.h"
#include "mw.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
bool areSticksInApModePosition(uint16_t ap_mode)
{
return abs(rcCommand[ROLL]) < ap_mode && abs(rcCommand[PITCH]) < ap_mode;
}
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
{
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
return THROTTLE_LOW;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->mincheck))
return THROTTLE_LOW;
return THROTTLE_HIGH;
}
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint16_t *activate, bool retarded_arm)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
uint8_t stTmp = 0;
int i;
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > rxConfig->mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < rxConfig->maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
if (rcDelayCommand < 250)
rcDelayCommand++;
} else
rcDelayCommand = 0;
rcSticks = stTmp;
// perform actions
if (throttleStatus == THROTTLE_LOW) {
if (activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
if (rcOptions[BOXARM] && f.OK_TO_ARM)
mwArm();
else if (f.ARMED)
mwDisarm();
}
}
if (rcDelayCommand != 20) {
return;
}
if (f.ARMED) { // actions during armed
// Disarm on throttle down + yaw
if (activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE))
mwDisarm();
// Disarm on roll (only when retarded_arm is enabled)
if (retarded_arm && activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
mwDisarm();
return;
}
// actions during not armed
i = 0;
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
// GYRO calibration
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
if (feature(FEATURE_GPS))
GPS_reset_home_position();
#ifdef BARO
if (sensors(SENSOR_BARO))
baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
if (!sensors(SENSOR_MAG))
heading = 0; // reset heading to zero after gyro calibration
return;
}
if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
// Inflight ACC Calibration
handleInflightCalibrationStickPosition();
return;
}
// Multiple configuration profiles
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
i = 1;
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
i = 2;
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
changeProfile(i - 1);
return;
}
if (activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE)) {
// Arm via YAW
mwArm();
return;
}
if (retarded_arm && activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI)) {
// Arm via ROLL
mwArm();
return;
}
if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
// Calibrating Acc
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
return;
}
if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
// Calibrating Mag
f.CALIBRATE_MAG = 1;
return;
}
// Accelerometer Trim
rollAndPitchTrims_t accelerometerTrimsDelta;
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
bool shouldApplyRollAndPitchTrimDelta = false;
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
accelerometerTrimsDelta.values.pitch = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
accelerometerTrimsDelta.values.pitch = -2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
accelerometerTrimsDelta.values.roll = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
accelerometerTrimsDelta.values.roll = -2;
shouldApplyRollAndPitchTrimDelta = true;
}
if (shouldApplyRollAndPitchTrimDelta) {
applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
rcDelayCommand = 0; // allow autorepetition
return;
}
}

8
src/main/io/rc_controls.h
View file

@ -11,6 +11,11 @@ typedef enum rc_alias {
AUX4
} rc_alias_e;
typedef enum {
THROTTLE_LOW = 0,
THROTTLE_HIGH
} throttleStatus_e;
#define ROL_LO (1 << (2 * ROLL))
#define ROL_CE (3 << (2 * ROLL))
#define ROL_HI (2 << (2 * ROLL))
@ -36,4 +41,7 @@ typedef struct controlRateConfig_s {
extern int16_t rcCommand[4];
bool areSticksInApModePosition(uint16_t ap_mode);
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, uint16_t *activate, bool retarded_arm);

1
src/main/io/rc_curves.c
View file

@ -1,6 +1,7 @@
#include <stdbool.h>
#include <stdint.h>
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "io/escservo.h"

16
src/main/io/serial_cli.c
View file

@ -15,22 +15,22 @@
#include "drivers/accgyro.h"
#include "drivers/serial.h"
#include "drivers/bus_i2c.h"
#include "io/serial.h"
#include "flight/flight.h"
#include "flight/mixer.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "sensors/boardalignment.h"
#include "telemetry/telemetry.h"
#include "io/gps.h"
#include "flight/failsafe.h"
#include "rx/rx.h"
#include "sensors/battery.h"
#include "io/escservo.h"
#include "io/gps.h"
#include "io/gimbal.h"
#include "io/rc_controls.h"
#include "io/serial.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "sensors/barometer.h"
#include "flight/failsafe.h"
#include "telemetry/telemetry.h"
#include "config/runtime_config.h"
#include "config/config.h"

12
src/main/io/serial_msp.c
View file

@ -15,24 +15,24 @@
#include "drivers/serial.h"
#include "drivers/bus_i2c.h"
#include "io/serial.h"
#include "flight/flight.h"
#include "flight/mixer.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "sensors/boardalignment.h"
#include "io/gps.h"
#include "flight/failsafe.h"
#include "rx/rx.h"
#include "rx/msp.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "io/gps.h"
#include "io/gimbal.h"
#include "io/serial.h"
#include "telemetry/telemetry.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensors/battery.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "flight/failsafe.h"
#include "config/runtime_config.h"
#include "config/config.h"

2
src/main/main.c
View file

@ -24,10 +24,10 @@
#include "io/serial.h"
#include "flight/failsafe.h"
#include "rx/rx.h"
#include "io/gps.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "rx/rx.h"
#include "io/gimbal.h"
#include "sensors/sensors.h"
#include "sensors/sonar.h"

192
src/main/mw.c
View file

@ -35,9 +35,9 @@
#include "io/serial_cli.h"
#include "io/serial.h"
#include "io/statusindicator.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "io/rc_curves.h"
#include "rx/rx.h"
#include "rx/msp.h"
#include "telemetry/telemetry.h"
@ -72,12 +72,13 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
extern pidControllerFuncPtr pid_controller;
// Automatic ACC Offset Calibration
bool AccInflightCalibrationArmed = false;
bool AccInflightCalibrationMeasurementDone = false;
bool AccInflightCalibrationSavetoEEProm = false;
bool AccInflightCalibrationActive = false;
uint16_t InflightcalibratingA = 0;
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
{
currentProfile.accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
currentProfile.accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
saveAndReloadCurrentProfileToCurrentProfileSlot();
}
void updateAutotuneState(void)
{
@ -247,7 +248,7 @@ void annexCode(void)
static uint32_t LEDTime;
if ((int32_t)(currentTime - LEDTime) >= 0) {
LEDTime = currentTime + 50000;
ledringState(f.ARMED, inclination.values.pitchDeciDegrees, inclination.values.rollDeciDegrees);
ledringState(f.ARMED, inclination.values.pitchDeciDegrees, inclination.values.rollDeciDegrees, heading);
}
}
#endif
@ -262,9 +263,6 @@ void annexCode(void)
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature)
gyro.temperature(&telemTemperature1);
else {
// TODO MCU temp
}
}
void mwDisarm(void)
@ -291,18 +289,53 @@ void mwArm(void)
}
}
// Automatic ACC Offset Calibration
bool AccInflightCalibrationArmed = false;
bool AccInflightCalibrationMeasurementDone = false;
bool AccInflightCalibrationSavetoEEProm = false;
bool AccInflightCalibrationActive = false;
uint16_t InflightcalibratingA = 0;
void handleInflightCalibrationStickPosition(void)
{
if (AccInflightCalibrationMeasurementDone) {
// trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
} else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) {
queueConfirmationBeep(2);
} else {
queueConfirmationBeep(3);
}
}
}
void updateInflightCalibrationState(void)
{
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = false;
}
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
}
}
void loop(void)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
uint8_t stTmp = 0;
int i;
#ifdef BARO
static int16_t initialThrottleHold;
#endif
static uint32_t loopTime;
uint16_t auxState = 0;
bool isThrottleLow = false;
updateRx();
@ -326,138 +359,17 @@ void loop(void)
failsafe->vTable->updateState();
}
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > masterConfig.rxConfig.mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < masterConfig.rxConfig.maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
if (rcDelayCommand < 250)
rcDelayCommand++;
} else
rcDelayCommand = 0;
rcSticks = stTmp;
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
// perform actions
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (masterConfig.rxConfig.midrc - masterConfig.flight3DConfig.deadband3d_throttle) && rcData[THROTTLE] < (masterConfig.rxConfig.midrc + masterConfig.flight3DConfig.deadband3d_throttle)))
isThrottleLow = true;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < masterConfig.rxConfig.mincheck))
isThrottleLow = true;
if (isThrottleLow) {
if (throttleStatus == THROTTLE_LOW) {
resetErrorAngle();
resetErrorGyro();
if (currentProfile.activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
if (rcOptions[BOXARM] && f.OK_TO_ARM)
mwArm();
else if (f.ARMED)
mwDisarm();
}
}
if (rcDelayCommand == 20) {
if (f.ARMED) { // actions during armed
// Disarm on throttle down + yaw
if (currentProfile.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE))
mwDisarm();
// Disarm on roll (only when retarded_arm is enabled)
if (masterConfig.retarded_arm && currentProfile.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
mwDisarm();
} else { // actions during not armed
i = 0;
// GYRO calibration
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
if (feature(FEATURE_GPS))
GPS_reset_home_position();
#ifdef BARO
if (sensors(SENSOR_BARO))
baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
if (!sensors(SENSOR_MAG))
heading = 0; // reset heading to zero after gyro calibration
// Inflight ACC Calibration
} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
} else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) {
queueConfirmationBeep(2);
} else {
queueConfirmationBeep(3);
}
}
}
// Multiple configuration profiles
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
i = 1;
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
i = 2;
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
masterConfig.current_profile_index = i - 1;
writeEEPROM();
readEEPROM();
blinkLedAndSoundBeeper(2, 40, i);
// TODO alarmArray[0] = i;
}
// Arm via YAW
if (currentProfile.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE))
mwArm();
// Arm via ROLL
else if (masterConfig.retarded_arm && currentProfile.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI))
mwArm();
// Calibrating Acc
else if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE)
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
// Calibrating Mag
else if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE)
f.CALIBRATE_MAG = 1;
i = 0;
// Acc Trim
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
currentProfile.accelerometerTrims.values.pitch += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
currentProfile.accelerometerTrims.values.pitch -= 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
currentProfile.accelerometerTrims.values.roll += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
currentProfile.accelerometerTrims.values.roll -= 2;
i = 1;
}
if (i) {
copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM();
readEEPROMAndNotify();
rcDelayCommand = 0; // allow autorepetition
}
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile.activate, masterConfig.retarded_arm);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = false;
}
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;
}
updateInflightCalibrationState();
}
// Check AUX switches

7
src/main/mw.h Normal file
View file

@ -0,0 +1,7 @@
#pragma once
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta);
void handleInflightCalibrationStickPosition();
void mwDisarm(void);
void mwArm(void);