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#define SIGNAL_BAD  2
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#define SIGNAL_BAD  2
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#define SIGNAL_OK   3
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#define SIGNAL_OK   3
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#define SIGNAL_GOOD 4
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#define SIGNAL_GOOD 4
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/*
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/*
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 * The EATR arrays
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 * The PRTY arrays
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 */
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 */
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#define CONTROL_ELEVATOR 0
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#define CONTROL_ELEVATOR 0
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#define CONTROL_AILERONS 1
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#define CONTROL_AILERONS 1
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#define CONTROL_THROTTLE 2
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#define CONTROL_THROTTLE 2
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#define CONTROL_RUDDER   3
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#define CONTROL_RUDDER   3
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/*
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 * Looping flags.
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 * LOOPING_UP || LOOPING_DOWN <=> LOOPING_PITCH_AXIS
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 * LOOPING_LEFT || LOOPING_RIGHT <=> LOOPING_ROLL_AXIS
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 */
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#define LOOPING_UP         (1<<0)
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#define LOOPING_DOWN       (1<<1)
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#define LOOPING_LEFT       (1<<2)
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#define LOOPING_RIGHT      (1<<3)
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#define LOOPING_PITCH_AXIS (1<<4)
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#define LOOPING_ROLL_AXIS  (1<<5)
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/*
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/*
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 * This is only relevant for "abstract controls" ie. all control sources have the
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 * This is only relevant for "abstract controls" ie. all control sources have the
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 * same interface. This struct of code pointers is used like an abstract class
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 * same interface. This struct of code pointers is used like an abstract class
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 * definition from object-oriented languages, and all control input implementations
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 * definition from object-oriented languages, and all control input implementations
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} t_control;
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} t_control;
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/*
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/*
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 * Our output.
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 * Our output.
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 */
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 */
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extern int16_t control[4];
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extern int32_t controlIntegrals[4];
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extern int16_t controls[4];
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extern uint16_t controlActivity;
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extern uint16_t controlActivity;
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extern uint16_t maxControl[2];
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extern volatile uint8_t MKFlags;
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extern uint16_t isFlying;
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//extern uint16_t maxControl[2];
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void controlMixer_initVariables(void);
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void controlMixer_initVariables(void);
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void controlMixer_updateVariables(void);
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//void controlMixer_updateVariables(void);
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void controlMixer_setNeutral(void);
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void controlMixer_setNeutral(void);
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/*
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/*
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 * Update the exported variables. Called at every flight control cycle.
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 * Update the exported variables. Called at every flight control cycle.
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 */
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 */
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void controlMixer_update(void);
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void controlMixer_periodicTask(void);
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/*
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/*
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 * Get the current command. See the COMMAND_.... define's
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 * Get the current command. See the COMMAND_.... define's
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 */
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 */
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uint8_t controlMixer_getCommand(void);
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uint8_t controlMixer_getCommand(void);
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void controlMixer_performCalibrationCommands(uint8_t command);
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 * + <--
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 * + <--
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 *    0
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 *    0
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 *
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 *
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 * Not in any of these positions: 0
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 * Not in any of these positions: 0
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 */
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 */
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// void controlMixer_handleCommands(void);
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uint8_t controlMixer_getArgument(void);
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uint8_t controlMixer_getArgument(void);
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uint8_t controlMixer_isCommandRepeated(void);
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uint8_t controlMixer_isCommandRepeated(void);
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// TODO: Abstract away if possible.
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uint8_t controlMixer_testCompassCalState(void);
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