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errorGyroI[ROLL] = 0; errorGyroI[PITCH] = 0;
#if PID_CONTROLLER == 1
errorGyroI_YAW = 0;
#elif PID_CONTROLLER == 2
errorGyroI[YAW] = 0;
#endif
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
#endif
if (conf.activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
if ( rcOptions[BOXARM] && f.OK_TO_ARM ) go_arm(); else if (f.ARMED) go_disarm();
}
}
if(rcDelayCommand == 20) {
if(f.ARMED) { // actions during armed
#ifdef ALLOW_ARM_DISARM_VIA_TX_YAW
if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_LO + PIT_CE + RO
L_CE) go_disarm(); // Disarm via YAW
#endif
#ifdef ALLOW_ARM_DISARM_VIA_TX_ROLL
if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_CE + PIT_CE + RO
L_LO) go_disarm(); // Disarm via ROLL
#endif
} else { // actions during not armed
i=0;
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) { // GYRO calibration
calibratingG=512;
#if GPS
GPS_reset_home_position();
#endif
#if BARO
calibratingB=10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non
blocking)
#endif
}
#if defined(INFLIGHT_ACC_CALIBRATION)
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI) { // Inflight ACC cali
bration START/STOP
if (AccInflightCalibrationMeasurementDone){ // trigger saving into eep
rom after landing
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}else{
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
#if defined(BUZZER)
if (AccInflightCalibrationArmed) SET_ALARM_BUZZER(ALRM_FAC_TOGGLE, ALR

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