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#ifndef _RC_H

#define _RC_H

#include <inttypes.h>

#include "configuration.h"

// Number of cycles a command must be repeated before commit.

#define COMMAND_TIMER 200

extern void RC_Init(void);

// the RC-Signal. todo: Not export any more.

extern volatile int16_t PPM_in[MAX_CHANNELS];

// extern volatile int16_t PPM_diff[MAX_CHANNELS];      // the differentiated RC-Signal. Should that be exported??

extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame

extern volatile uint8_t RCQuality;  // rc signal quality indicator (0 to 200)

// defines for lookup staticParams.ChannelAssignment

#define CH_PITCH        0

#define CH_ROLL             1

#define CH_THROTTLE         2

#define CH_YAW              3

#define CH_POTS         4

#define POT_OFFSET      120

// void RC_periodicTask(void);

void RC_periodicTaskAndPRTY(int16_t* PRTY);

uint8_t RC_getArgument(void);

uint8_t RC_getCommand(void);

int16_t RC_getVariable(uint8_t varNum);

void RC_calibrate(void);

uint8_t RC_getSignalQuality(void);

uint8_t RC_getLooping(uint8_t looping);

#ifdef USE_MK3MAG

uint8_t RC_testCompassCalState(void);

#endif

#endif //_RC_H