// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#if CLI_ENABLED == ENABLED

// Functions called from the setup menu
static int8_t	setup_radio				(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_motors			(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_accel				(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_frame				(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_factory			(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_erase				(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_flightmodes		(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_batt_monitor		(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_sonar				(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_compass			(uint8_t argc, const Menu::arg *argv);
//static int8_t	setup_mag_offset		(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_declination		(uint8_t argc, const Menu::arg *argv);
static int8_t	setup_esc				(uint8_t argc, const Menu::arg *argv);
#ifdef OPTFLOW_ENABLED
static int8_t	setup_optflow			(uint8_t argc, const Menu::arg *argv);
#endif
static int8_t	setup_show				(uint8_t argc, const Menu::arg *argv);

#if FRAME_CONFIG == HELI_FRAME
	static int8_t	setup_heli				(uint8_t argc, const Menu::arg *argv);
	static int8_t	setup_gyro				(uint8_t argc, const Menu::arg *argv);
#endif

// Command/function table for the setup menu
const struct Menu::command setup_menu_commands[] PROGMEM = {
	// command			function called
	// =======        	===============
	{"erase", 			setup_erase},
	{"reset", 			setup_factory},
	{"radio",			setup_radio},
	{"frame",			setup_frame},
	{"motors",			setup_motors},
	{"esc",				setup_esc},
	{"level",			setup_accel},
	{"modes",			setup_flightmodes},
	{"battery",			setup_batt_monitor},
	{"sonar",			setup_sonar},
	{"compass",			setup_compass},
//	{"offsets",			setup_mag_offset},
	{"declination",		setup_declination},
#ifdef OPTFLOW_ENABLED
	{"optflow",			setup_optflow},
#endif
#if FRAME_CONFIG == HELI_FRAME
	{"heli",			setup_heli},
	{"gyro",			setup_gyro},
#endif
	{"show",			setup_show}
};

// Create the setup menu object.
MENU(setup_menu, "setup", setup_menu_commands);

// Called from the top-level menu to run the setup menu.
static int8_t
setup_mode(uint8_t argc, const Menu::arg *argv)
{
	// Give the user some guidance
	Serial.printf_P(PSTR("Setup Mode\n\n\n"));
						 //"\n"
						 //"IMPORTANT: if you have not previously set this system up, use the\n"
						 //"'reset' command to initialize the EEPROM to sensible default values\n"
						 //"and then the 'radio' command to configure for your radio.\n"
						 //"\n"));

	if(g.rc_1.radio_min >= 1300){
		delay(1000);
		Serial.printf_P(PSTR("\n!Warning, your radio is not configured!"));
		delay(1000);
		Serial.printf_P(PSTR("\n Type 'radio' to configure now.\n\n"));
	}

	// Run the setup menu.  When the menu exits, we will return to the main menu.
	setup_menu.run();
    return 0;
}

// Print the current configuration.
// Called by the setup menu 'show' command.
static int8_t
setup_show(uint8_t argc, const Menu::arg *argv)
{
	// clear the area
	print_blanks(8);

	report_version();
	report_radio();
	report_frame();
	report_batt_monitor();
	report_sonar();
	//report_gains();
	//report_xtrack();
	//report_throttle();
	report_flight_modes();
	report_imu();
	report_compass();
#ifdef OPTFLOW_ENABLED
	report_optflow();
#endif
#if FRAME_CONFIG == HELI_FRAME
	report_heli();
	report_gyro();
#endif

	AP_Var_menu_show(argc, argv);
	return(0);
}

// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
// Called by the setup menu 'factoryreset' command.
static int8_t
setup_factory(uint8_t argc, const Menu::arg *argv)
{
	int c;

	Serial.printf_P(PSTR("\n'Y' + Enter to factory reset, any other key to abort:\n"));

	do {
		c = Serial.read();
	} while (-1 == c);

	if (('y' != c) && ('Y' != c))
		return(-1);

	AP_Var::erase_all();
	Serial.printf_P(PSTR("\nFACTORY RESET complete - reboot APM"));

	delay(1000);
	//default_gains();

	for (;;) {
	}
	// note, cannot actually return here
	return(0);
}

// Perform radio setup.
// Called by the setup menu 'radio' command.
static int8_t
setup_radio(uint8_t argc, const Menu::arg *argv)
{
	Serial.println("\n\nRadio Setup:");
	uint8_t i;

	for(i = 0; i < 100;i++){
		delay(20);
		read_radio();
	}

	if(g.rc_1.radio_in < 500){
		while(1){
			//Serial.printf_P(PSTR("\nNo radio; Check connectors."));
			delay(1000);
			// stop here
		}
	}

	g.rc_1.radio_min = g.rc_1.radio_in;
	g.rc_2.radio_min = g.rc_2.radio_in;
	g.rc_3.radio_min = g.rc_3.radio_in;
	g.rc_4.radio_min = g.rc_4.radio_in;
	g.rc_5.radio_min = g.rc_5.radio_in;
	g.rc_6.radio_min = g.rc_6.radio_in;
	g.rc_7.radio_min = g.rc_7.radio_in;
	g.rc_8.radio_min = g.rc_8.radio_in;

	g.rc_1.radio_max = g.rc_1.radio_in;
	g.rc_2.radio_max = g.rc_2.radio_in;
	g.rc_3.radio_max = g.rc_3.radio_in;
	g.rc_4.radio_max = g.rc_4.radio_in;
	g.rc_5.radio_max = g.rc_5.radio_in;
	g.rc_6.radio_max = g.rc_6.radio_in;
	g.rc_7.radio_max = g.rc_7.radio_in;
	g.rc_8.radio_max = g.rc_8.radio_in;

	g.rc_1.radio_trim = g.rc_1.radio_in;
	g.rc_2.radio_trim = g.rc_2.radio_in;
	g.rc_4.radio_trim = g.rc_4.radio_in;
	// 3 is not trimed
	g.rc_5.radio_trim = 1500;
	g.rc_6.radio_trim = 1500;
	g.rc_7.radio_trim = 1500;
	g.rc_8.radio_trim = 1500;


	Serial.printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: "));
	while(1){

		delay(20);
		// Filters radio input - adjust filters in the radio.pde file
		// ----------------------------------------------------------
		read_radio();

		g.rc_1.update_min_max();
		g.rc_2.update_min_max();
		g.rc_3.update_min_max();
		g.rc_4.update_min_max();
		g.rc_5.update_min_max();
		g.rc_6.update_min_max();
		g.rc_7.update_min_max();
		g.rc_8.update_min_max();

		if(Serial.available() > 0){
			delay(20);
			Serial.flush();

			g.rc_1.save_eeprom();
			g.rc_2.save_eeprom();
			g.rc_3.save_eeprom();
			g.rc_4.save_eeprom();
			g.rc_5.save_eeprom();
			g.rc_6.save_eeprom();
			g.rc_7.save_eeprom();
			g.rc_8.save_eeprom();

			print_done();
			break;
		}
	}
	report_radio();
	return(0);
}

static int8_t
setup_esc(uint8_t argc, const Menu::arg *argv)
{
	Serial.printf_P(PSTR("\nESC Calibration:\n"
						"-1 Unplug USB and battery\n"
						"-2 Move CLI/FLY switch to FLY mode\n"
						"-3 Move throttle to max, connect battery\n"
						"-4 After two long beeps, throttle to 0, then test\n\n"
						" Press Enter to cancel.\n"));


	g.esc_calibrate.set_and_save(1);

	while(1){
		delay(20);

		if(Serial.available() > 0){
			g.esc_calibrate.set_and_save(0);
			return(0);
		}
	}
}

static int8_t
setup_motors(uint8_t argc, const Menu::arg *argv)
{
	while(1){
		delay(20);
		read_radio();
		output_motor_test();
		if(Serial.available() > 0){
			g.esc_calibrate.set_and_save(0);
			return(0);
		}
	}
}

static int8_t
setup_accel(uint8_t argc, const Menu::arg *argv)
{
	imu.init_accel();
	print_accel_offsets();
	report_imu();
	return(0);
}

static int8_t
setup_frame(uint8_t argc, const Menu::arg *argv)
{
	if (!strcmp_P(argv[1].str, PSTR("x"))) {
		g.frame_orientation.set_and_save(X_FRAME);
	} else if (!strcmp_P(argv[1].str, PSTR("p"))) {
		g.frame_orientation.set_and_save(PLUS_FRAME);
	} else if (!strcmp_P(argv[1].str, PSTR("+"))) {
		g.frame_orientation.set_and_save(PLUS_FRAME);
	} else if (!strcmp_P(argv[1].str, PSTR("v"))) {
		g.frame_orientation.set_and_save(V_FRAME);
	}else{
		Serial.printf_P(PSTR("\nOptions:[x,+,v]\n"));
		report_frame();
		return 0;
	}

	report_frame();
	return 0;
}

static int8_t
setup_flightmodes(uint8_t argc, const Menu::arg *argv)
{
	byte _switchPosition = 0;
	byte _oldSwitchPosition = 0;
	byte mode = 0;

	Serial.printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
	print_hit_enter();

	while(1){
		delay(20);
		read_radio();
		_switchPosition = readSwitch();


		// look for control switch change
		if (_oldSwitchPosition != _switchPosition){

			mode = flight_modes[_switchPosition];
			mode = constrain(mode, 0, NUM_MODES-1);

			// update the user
			print_switch(_switchPosition, mode);

			// Remember switch position
			_oldSwitchPosition = _switchPosition;
		}

		// look for stick input
		if (radio_input_switch() ==  true){
			mode++;
			if(mode >= NUM_MODES)
				mode = 0;

			// save new mode
			flight_modes[_switchPosition] = mode;

			// print new mode
			print_switch(_switchPosition, mode);
		}

		// escape hatch
		if(Serial.available() > 0){
            for (mode=0; mode<6; mode++)
                flight_modes[mode].save();
			print_done();
			report_flight_modes();
			return (0);
		}
	}
}

static int8_t
setup_declination(uint8_t argc, const Menu::arg *argv)
{
	compass.set_declination(radians(argv[1].f));
	report_compass();
	return 0;
}


static int8_t
setup_erase(uint8_t argc, const Menu::arg *argv)
{
	zero_eeprom();
	return 0;
}

static int8_t
setup_compass(uint8_t argc, const Menu::arg *argv)
{
	if (!strcmp_P(argv[1].str, PSTR("on"))) {
		g.compass_enabled.set_and_save(true);
		init_compass();

	} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
		clear_offsets();
		g.compass_enabled.set_and_save(false);

	}else{
		Serial.printf_P(PSTR("\nOptions:[on,off]\n"));
		report_compass();
		return 0;
	}

	g.compass_enabled.save();
	report_compass();
	return 0;
}

static int8_t
setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
{
	if (!strcmp_P(argv[1].str, PSTR("off"))) {
		g.battery_monitoring.set_and_save(0);

	} else if(argv[1].i > 0 && argv[1].i <= 4){
		g.battery_monitoring.set_and_save(argv[1].i);

	} else {
		Serial.printf_P(PSTR("\nOptions: off, 1-4"));
	}

	report_batt_monitor();
	return 0;
}

static int8_t
setup_sonar(uint8_t argc, const Menu::arg *argv)
{
	if (!strcmp_P(argv[1].str, PSTR("on"))) {
		g.sonar_enabled.set_and_save(true);

	} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
		g.sonar_enabled.set_and_save(false);

	}else{
		Serial.printf_P(PSTR("\nOptions:[on, off]\n"));
		report_sonar();
		return 0;
	}

	report_sonar();
	return 0;
}

#if FRAME_CONFIG == HELI_FRAME

// Perform heli setup.
// Called by the setup menu 'radio' command.
static int8_t
setup_heli(uint8_t argc, const Menu::arg *argv)
{

	uint8_t active_servo = 0;
	int value = 0;
	int temp;
	int state = 0;   // 0 = set rev+pos, 1 = capture min/max
	int max_roll, max_pitch, min_coll, max_coll, min_tail, max_tail;

	// initialise swash plate
	heli_init_swash();

	// source swash plate movements directly from
	heli_manual_override = true;

	// display initial settings
	report_heli();

	// display help
	Serial.printf_P(PSTR("Instructions:"));
	print_divider();
	Serial.printf_P(PSTR("\td\t\tdisplay settings\n"));
	Serial.printf_P(PSTR("\t1~4\t\tselect servo\n"));
	Serial.printf_P(PSTR("\ta or z\t\tmove mid up/down\n"));
	Serial.printf_P(PSTR("\tc\t\tset coll when blade pitch zero\n"));
	Serial.printf_P(PSTR("\tm\t\tset roll, pitch, coll min/max\n"));
	Serial.printf_P(PSTR("\tp<angle>\tset pos (i.e. p0 = front, p90 = right)\n"));
	Serial.printf_P(PSTR("\tr\t\treverse servo\n"));
	Serial.printf_P(PSTR("\tt<angle>\tset trim (-500 ~ 500)\n"));
	Serial.printf_P(PSTR("\tx\t\texit & save\n"));

	// start capturing
	while( value != 'x' ) {

	    // read radio although we don't use it yet
	    read_radio();

		// record min/max
		if( state == 1 ) {
		    if( abs(g.rc_1.control_in) > max_roll )
			    max_roll = abs(g.rc_1.control_in);
			if( abs(g.rc_2.control_in) > max_pitch )
			    max_pitch = abs(g.rc_2.control_in);
			if( g.rc_3.radio_in < min_coll )
			    min_coll = g.rc_3.radio_in;
			if( g.rc_3.radio_in > max_coll )
			    max_coll = g.rc_3.radio_in;
			min_tail = min(g.rc_4.radio_in, min_tail);
			max_tail = max(g.rc_4.radio_in, max_tail);
			//Serial.printf_P(PSTR("4: ri:%d \tro:%d \tso:%d \n"), (int)g.rc_4.radio_in, (int)g.rc_4.radio_out, (int)g.rc_4.servo_out);
		}

	    if( Serial.available() ) {
		    value = Serial.read();

			// process the user's input
			switch( value ) {
				case '1':
					active_servo = CH_1;
					break;
				case '2':
					active_servo = CH_2;
					break;
				case '3':
					active_servo = CH_3;
					break;
				case '4':
					active_servo = CH_4;
					break;
				case 'a':
				case 'A':
					heli_get_servo(active_servo)->radio_trim += 10;
					break;
				case 'c':
				case 'C':
				    if( g.rc_3.radio_in >= 900 && g.rc_3.radio_in <= 2100 ) {
						g.heli_coll_mid = g.rc_3.radio_in;
						Serial.printf_P(PSTR("Collective when blade pitch at zero: %d\n"),(int)g.heli_coll_mid);
					}
					break;
				case 'd':
				case 'D':
					// display settings
					report_heli();
					break;
				case 'm':
				case 'M':
				    if( state == 0 ) {
					    state = 1;  // switch to capture min/max mode
						Serial.printf_P(PSTR("Move coll, roll, pitch and tail to extremes, press 'm' when done\n"),active_servo+1, temp);

						// reset servo ranges
						g.heli_roll_max = g.heli_pitch_max = 4500;
						g.heli_coll_min = 1000;
						g.heli_coll_max = 2000;
						g.heli_servo_4.radio_min = 1000;
						g.heli_servo_4.radio_max = 2000;

						// set sensible values in temp variables
						max_roll = abs(g.rc_1.control_in);
						max_pitch = abs(g.rc_2.control_in);
						min_coll = 2000;
						max_coll = 1000;
						min_tail = max_tail = abs(g.rc_4.radio_in);
					}else{
					    state = 0;  // switch back to normal mode
						// double check values aren't totally terrible
						if( max_roll <= 1000 || max_pitch <= 1000 || (max_coll - min_coll < 200) || (max_tail - min_tail < 200) || min_tail < 1000 || max_tail > 2000 )
						    Serial.printf_P(PSTR("Invalid min/max captured roll:%d,  pitch:%d,  collective min: %d max: %d,  tail min:%d max:%d\n"),max_roll,max_pitch,min_coll,max_coll,min_tail,max_tail);
						else{
						    g.heli_roll_max = max_roll;
							g.heli_pitch_max = max_pitch;
							g.heli_coll_min = min_coll;
							g.heli_coll_max = max_coll;
							g.heli_servo_4.radio_min = min_tail;
							g.heli_servo_4.radio_max = max_tail;

							// reinitialise swash
							heli_init_swash();

							// display settings
							report_heli();
						}
					}
					break;
				case 'p':
				case 'P':
					temp = read_num_from_serial();
					if( temp >= -360 && temp <= 360 ) {
						if( active_servo == CH_1 )
							g.heli_servo1_pos = temp;
						if( active_servo == CH_2 )
							g.heli_servo2_pos = temp;
						if( active_servo == CH_3 )
							g.heli_servo3_pos = temp;
						heli_init_swash();
						Serial.printf_P(PSTR("Servo %d\t\tpos:%d\n"),active_servo+1, temp);
					}
					break;
				case 'r':
				case 'R':
				    heli_get_servo(active_servo)->set_reverse(!heli_get_servo(active_servo)->get_reverse());
					break;
				case 't':
				case 'T':
					temp = read_num_from_serial();
					if( temp > 1000 )
					    temp -= 1500;
					if( temp > -500 && temp < 500 ) {
					    heli_get_servo(active_servo)->radio_trim = 1500 + temp;
						heli_init_swash();
						Serial.printf_P(PSTR("Servo %d\t\ttrim:%d\n"),active_servo+1, 1500 + temp);
					}
					break;
				case 'z':
				case 'Z':
					heli_get_servo(active_servo)->radio_trim -= 10;
					break;
			}
		}

		// allow swash plate to move
		output_motors_armed();

		delay(20);
	}

	// display final settings
	report_heli();

	// save to eeprom
	g.heli_servo_1.save_eeprom();
	g.heli_servo_2.save_eeprom();
	g.heli_servo_3.save_eeprom();
	g.heli_servo_4.save_eeprom();
	g.heli_servo1_pos.save();
	g.heli_servo2_pos.save();
	g.heli_servo3_pos.save();
	g.heli_roll_max.save();
	g.heli_pitch_max.save();
	g.heli_coll_min.save();
	g.heli_coll_max.save();
	g.heli_coll_mid.save();

	// return swash plate movements to attitude controller
	heli_manual_override = false;

	return(0);
}

// setup for external tail gyro (for heli only)
static int8_t
setup_gyro(uint8_t argc, const Menu::arg *argv)
{
	if (!strcmp_P(argv[1].str, PSTR("on"))) {
		g.heli_ext_gyro_enabled.set_and_save(true);

		// optionally capture the gain
		if( argc >= 2 && argv[2].i >= 1000 && argv[2].i <= 2000 ) {
		    g.heli_ext_gyro_gain = argv[2].i;
			g.heli_ext_gyro_gain.save();
		}

	} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
		g.heli_ext_gyro_enabled.set_and_save(false);

    // capture gain if user simply provides a number
	} else if( argv[1].i >= 1000 && argv[1].i <= 2000 ) {
	    g.heli_ext_gyro_enabled.set_and_save(true);
		g.heli_ext_gyro_gain = argv[1].i;
		g.heli_ext_gyro_gain.save();

	}else{
		Serial.printf_P(PSTR("\nOptions:[on, off] gain\n"));
	}

	report_gyro();
	return 0;
}

#endif // FRAME_CONFIG == HELI

static void clear_offsets()
{
	Vector3f _offsets(0.0,0.0,0.0);
	compass.set_offsets(_offsets);
	compass.save_offsets();
}

/*static int8_t
setup_mag_offset(uint8_t argc, const Menu::arg *argv)
{
	Vector3f _offsets;

	if (!strcmp_P(argv[1].str, PSTR("c"))) {
		clear_offsets();
		report_compass();
		return (0);
	}

	print_hit_enter();
	init_compass();

	int _min[3] = {0,0,0};
	int _max[3] = {0,0,0};

	compass.read();
	compass.calculate(0,0);	// roll = 0, pitch = 0

	while(1){
		delay(50);

		compass.read();
		compass.calculate(0,0);	// roll = 0, pitch = 0

		if(compass.mag_x < _min[0])	_min[0] = compass.mag_x;
		if(compass.mag_y < _min[1])	_min[1] = compass.mag_y;
		if(compass.mag_z < _min[2])	_min[2] = compass.mag_z;

		// capture max
		if(compass.mag_x > _max[0])	_max[0] = compass.mag_x;
		if(compass.mag_y > _max[1])	_max[1] = compass.mag_y;
		if(compass.mag_z > _max[2])	_max[2] = compass.mag_z;

		// calculate offsets
		_offsets.x = (float)(_max[0] + _min[0]) / -2;
		_offsets.y = (float)(_max[1] + _min[1]) / -2;
		_offsets.z = (float)(_max[2] + _min[2]) / -2;

		// display all to user
		Serial.printf_P(PSTR("Heading: %u, \t (%d, %d, %d), (%4.4f, %4.4f, %4.4f)\n"),

				(uint16_t)(wrap_360(ToDeg(compass.heading) * 100)) /100,

				compass.mag_x,
				compass.mag_y,
				compass.mag_z,

				_offsets.x,
				_offsets.y,
				_offsets.z);

		if(Serial.available() > 1){
			compass.set_offsets(_offsets);
			//compass.set_offsets(mag_offset_x, mag_offset_y, mag_offset_z);
			report_compass();
			return 0;
		}
	}
	return 0;
}
*/

#ifdef OPTFLOW_ENABLED
static int8_t
setup_optflow(uint8_t argc, const Menu::arg *argv)
{
	if (!strcmp_P(argv[1].str, PSTR("on"))) {
		g.optflow_enabled = true;
		init_optflow();

	} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
		g.optflow_enabled = false;

	//} else if(argv[1].i > 10){
	//	g.optflow_fov.set_and_save(argv[1].i);
	//	optflow.set_field_of_view(g.optflow_fov.get());

	}else{
		Serial.printf_P(PSTR("\nOptions:[on, off]\n"));
		report_optflow();
		return 0;
	}

	g.optflow_enabled.save();
	report_optflow();
	return 0;
}
#endif


/***************************************************************************/
// CLI reports
/***************************************************************************/

static void report_batt_monitor()
{
	Serial.printf_P(PSTR("\nBatt Mointor\n"));
	print_divider();
	if(g.battery_monitoring == 0)	print_enabled(false);
	if(g.battery_monitoring == 1)	Serial.printf_P(PSTR("3 cells"));
	if(g.battery_monitoring == 2)	Serial.printf_P(PSTR("4 cells"));
	if(g.battery_monitoring == 3)	Serial.printf_P(PSTR("batt volts"));
	if(g.battery_monitoring == 4)	Serial.printf_P(PSTR("volts and cur"));
	print_blanks(2);
}

static void report_wp(byte index = 255)
{
	if(index == 255){
		for(byte i = 0; i <= g.waypoint_total; i++){
			struct Location temp = get_command_with_index(i);
			print_wp(&temp, i);
		}
	}else{
		struct Location temp = get_command_with_index(index);
		print_wp(&temp, index);
	}
}

static void report_sonar()
{
	g.sonar_enabled.load();
	Serial.printf_P(PSTR("Sonar\n"));
	print_divider();
	print_enabled(g.sonar_enabled.get());
	print_blanks(2);
}

static void report_frame()
{
	Serial.printf_P(PSTR("Frame\n"));
	print_divider();

#if FRAME_CONFIG == QUAD_FRAME
	Serial.printf_P(PSTR("Quad frame\n"));
#elif FRAME_CONFIG == TRI_FRAME
	Serial.printf_P(PSTR("TRI frame\n"));
#elif FRAME_CONFIG == HEXA_FRAME
	Serial.printf_P(PSTR("Hexa frame\n"));
#elif FRAME_CONFIG == Y6_FRAME
	Serial.printf_P(PSTR("Y6 frame\n"));
#elif FRAME_CONFIG == OCTA_FRAME
	Serial.printf_P(PSTR("Octa frame\n"));
#elif FRAME_CONFIG == HELI_FRAME
	Serial.printf_P(PSTR("Heli frame\n"));
#endif

#if FRAME_CONFIG != HELI_FRAME
	if(g.frame_orientation == X_FRAME)
		Serial.printf_P(PSTR("X mode\n"));
	else if(g.frame_orientation == PLUS_FRAME)
		Serial.printf_P(PSTR("+ mode\n"));
	else if(g.frame_orientation == V_FRAME)
		Serial.printf_P(PSTR("V mode\n"));
#endif

	print_blanks(2);
}

static void report_radio()
{
	Serial.printf_P(PSTR("Radio\n"));
	print_divider();
	// radio
	print_radio_values();
	print_blanks(2);
}

static void report_imu()
{
	Serial.printf_P(PSTR("IMU\n"));
	print_divider();

	print_gyro_offsets();
	print_accel_offsets();
	print_blanks(2);
}

static void report_compass()
{
	Serial.printf_P(PSTR("Compass\n"));
	print_divider();

	print_enabled(g.compass_enabled);

	// mag declination
	Serial.printf_P(PSTR("Mag Dec: %4.4f\n"),
							degrees(compass.get_declination()));

	Vector3f offsets = compass.get_offsets();

	// mag offsets
	Serial.printf_P(PSTR("Mag offsets: %4.4f, %4.4f, %4.4f"),
							offsets.x,
							offsets.y,
							offsets.z);
	print_blanks(2);
}

static void report_flight_modes()
{
	Serial.printf_P(PSTR("Flight modes\n"));
	print_divider();

	for(int i = 0; i < 6; i++ ){
		print_switch(i, flight_modes[i]);
	}
	print_blanks(2);
}

#ifdef OPTFLOW_ENABLED
void report_optflow()
{
	Serial.printf_P(PSTR("OptFlow\n"));
	print_divider();

	print_enabled(g.optflow_enabled);

	// field of view
	//Serial.printf_P(PSTR("FOV: %4.0f\n"),
	//						degrees(g.optflow_fov));

	print_blanks(2);
}
#endif

#if FRAME_CONFIG == HELI_FRAME
static void report_heli()
{
	Serial.printf_P(PSTR("Heli\n"));
	print_divider();

	// main servo settings
	Serial.printf_P(PSTR("Servo \tpos \tmin \tmax \trev\n"));
	Serial.printf_P(PSTR("1:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo1_pos, (int)g.heli_servo_1.radio_min, (int)g.heli_servo_1.radio_max, (int)g.heli_servo_1.get_reverse());
	Serial.printf_P(PSTR("2:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo2_pos, (int)g.heli_servo_2.radio_min, (int)g.heli_servo_2.radio_max, (int)g.heli_servo_2.get_reverse());
	Serial.printf_P(PSTR("3:\t%d \t%d \t%d \t%d\n"),(int)g.heli_servo3_pos, (int)g.heli_servo_3.radio_min, (int)g.heli_servo_3.radio_max, (int)g.heli_servo_3.get_reverse());
	Serial.printf_P(PSTR("tail:\t\t%d \t%d \t%d\n"), (int)g.heli_servo_4.radio_min, (int)g.heli_servo_4.radio_max, (int)g.heli_servo_4.get_reverse());

	Serial.printf_P(PSTR("roll max: \t%d\n"), (int)g.heli_roll_max);
	Serial.printf_P(PSTR("pitch max: \t%d\n"), (int)g.heli_pitch_max);
	Serial.printf_P(PSTR("coll min:\t%d\t mid:%d\t max:%d\n"),(int)g.heli_coll_min, (int)g.heli_coll_mid, (int)g.heli_coll_max);

	print_blanks(2);
}

static void report_gyro()
{

	Serial.printf_P(PSTR("External Gyro:\n"));
	print_divider();

	print_enabled( g.heli_ext_gyro_enabled );
	if( g.heli_ext_gyro_enabled )
	    Serial.printf_P(PSTR("gain: %d"),(int)g.heli_ext_gyro_gain);

	print_blanks(2);
}

#endif // FRAME_CONFIG == HELI_FRAME

/***************************************************************************/
// CLI utilities
/***************************************************************************/

/*static void
print_PID(PI * pid)
{
	Serial.printf_P(PSTR("P: %4.2f, I:%4.2f, IMAX:%ld\n"),
						pid->kP(),
						pid->kI(),
						(long)pid->imax());
}
*/

static void
print_radio_values()
{
	Serial.printf_P(PSTR("CH1: %d | %d\n"), (int)g.rc_1.radio_min, (int)g.rc_1.radio_max);
	Serial.printf_P(PSTR("CH2: %d | %d\n"), (int)g.rc_2.radio_min, (int)g.rc_2.radio_max);
	Serial.printf_P(PSTR("CH3: %d | %d\n"), (int)g.rc_3.radio_min, (int)g.rc_3.radio_max);
	Serial.printf_P(PSTR("CH4: %d | %d\n"), (int)g.rc_4.radio_min, (int)g.rc_4.radio_max);
	Serial.printf_P(PSTR("CH5: %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
	Serial.printf_P(PSTR("CH6: %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
	Serial.printf_P(PSTR("CH7: %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
	//Serial.printf_P(PSTR("CH8: %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
}

static void
print_switch(byte p, byte m)
{
	Serial.printf_P(PSTR("Pos %d: "),p);
	Serial.println(flight_mode_strings[m]);
}

static void
print_done()
{
	Serial.printf_P(PSTR("\nSaved Settings\n\n"));
}

// read at 50Hz
static bool
radio_input_switch(void)
{
	static int8_t bouncer = 0;

	if (int16_t(g.rc_1.radio_in - g.rc_1.radio_trim) > 100) {
	    bouncer = 10;
	}
	if (int16_t(g.rc_1.radio_in - g.rc_1.radio_trim) < -100) {
	    bouncer = -10;
	}
	if (bouncer >0) {
	    bouncer --;
	}
	if (bouncer <0) {
	    bouncer ++;
	}

	if (bouncer == 1 || bouncer == -1) {
	    return bouncer;
	}else{
	    return 0;
	}
}


static void zero_eeprom(void)
{
	byte b = 0;

	Serial.printf_P(PSTR("\nErasing EEPROM\n"));

	for (int i = 0; i < EEPROM_MAX_ADDR; i++) {
		eeprom_write_byte((uint8_t *) i, b);
	}

	Serial.printf_P(PSTR("done\n"));
}

static void
print_accel_offsets(void)
{
	Serial.printf_P(PSTR("Accel offsets: %4.2f, %4.2f, %4.2f\n"),
						(float)imu.ax(),
						(float)imu.ay(),
						(float)imu.az());
}

static void
print_gyro_offsets(void)
{
	Serial.printf_P(PSTR("Gyro offsets: %4.2f, %4.2f, %4.2f\n"),
						(float)imu.gx(),
						(float)imu.gy(),
						(float)imu.gz());
}

#if FRAME_CONFIG == HELI_FRAME

static RC_Channel *
heli_get_servo(int servo_num){
	if( servo_num == CH_1 )
	    return &g.heli_servo_1;
	if( servo_num == CH_2 )
	    return &g.heli_servo_2;
	if( servo_num == CH_3 )
	    return &g.heli_servo_3;
	if( servo_num == CH_4 )
	    return &g.heli_servo_4;
	return NULL;
}

// Used to read integer values from the serial port
static int read_num_from_serial() {
	byte index = 0;
	byte timeout = 0;
	char data[5] = "";

	do {
		if (Serial.available() == 0) {
			delay(10);
			timeout++;
		}else{
			data[index] = Serial.read();
			timeout = 0;
			index++;
		}
	}while (timeout < 5 && index < 5);

	return atoi(data);
}
#endif

#endif // CLI_ENABLED

static void
print_blanks(int num)
{
	while(num > 0){
		num--;
		Serial.println("");
	}
}

static void
print_divider(void)
{
	for (int i = 0; i < 40; i++) {
		Serial.print("-");
	}
	Serial.println("");
}

static void print_enabled(boolean b)
{
	if(b)
		Serial.printf_P(PSTR("en"));
	else
		Serial.printf_P(PSTR("dis"));
	Serial.printf_P(PSTR("abled\n"));
}


static void
init_esc()
{
	g.esc_calibrate.set_and_save(0);
	while(1){
		read_radio();
		delay(100);
		dancing_light();
		APM_RC.OutputCh(CH_1, g.rc_3.radio_in);
		APM_RC.OutputCh(CH_2, g.rc_3.radio_in);
		APM_RC.OutputCh(CH_3, g.rc_3.radio_in);
		APM_RC.OutputCh(CH_4, g.rc_3.radio_in);
		APM_RC.OutputCh(CH_7, g.rc_3.radio_in);
		APM_RC.OutputCh(CH_8, g.rc_3.radio_in);

		#if FRAME_CONFIG ==	OCTA_FRAME
		APM_RC.OutputCh(CH_10,   g.rc_3.radio_in);
		APM_RC.OutputCh(CH_11,   g.rc_3.radio_in);
		#endif

	}
}

static void print_wp(struct Location *cmd, byte index)
{
	Serial.printf_P(PSTR("command #: %d id:%d op:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
		(int)index,
		(int)cmd->id,
		(int)cmd->options,
		(int)cmd->p1,
		cmd->alt,
		cmd->lat,
		cmd->lng);
}

static void report_gps()
{
	Serial.printf_P(PSTR("\nGPS\n"));
	print_divider();
	print_enabled(GPS_enabled);
	print_blanks(2);
}

static void report_version()
{
	Serial.printf_P(PSTR("FW Version %d\n"),(int)g.format_version.get());
	print_divider();
	print_blanks(2);
}