Added ftrim() command to the client

This command sets a reference of the horizontal plane
for the drone internal control system.

Relates to felixge#27

Author: eschnou

lib/Client.js

@@ -205,6 +205,22 @@ Client.prototype.calibrate = function(device_num) {
   this._udpControl.calibrate(device_num);
 };
 
+Client.prototype.ftrim = function() {
+  // @TODO Figure out if we can get a ACK for this, so we don't need to
+  // repeat it blindly like this
+
+  if(this._ref.fly) {
+    console.log("You can’t ftrim when you fly");
+    return false;
+  }
+
+  var self = this;
+  console.log("Stabilizing…")
+  this._repeat(10, function() {
+    self._udpControl.ftrim();
+  });
+};
+
 Client.prototype.config = function(key, value) {
   // @TODO Figure out if we can get a ACK for this, so we don't need to
   // repeat it blindly like this

lib/control/AtCommandCreator.js

@@ -63,6 +63,11 @@ AtCommandCreator.prototype.config = function(name, value) {
   return this.raw('CONFIG', '"' + name + '"', '"' + value + '"');
 };
 
+// TMP: Used to send FTRIM
+AtCommandCreator.prototype.ftrim = function() {
+  return this.raw('FTRIM');
+}
+
 AtCommandCreator.prototype.animateLeds = function(name, hz, duration) {
   // Default animation
   name     = name || 'redSnake';

test/unit/control/test-AtCommandCreator.js

@@ -132,4 +132,10 @@ test('AtCommandCreator', {
       self.creator.animate('does not exist');
     },/animation/);
   },
+  
+  'ftrim': function() {
+    var cmd = this.creator.ftrim();
+    assert.equal(cmd.type, 'FTRIM');
+    assert.equal(cmd.args.length, 0);
+  },
 });