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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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/*
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OBSOLETED BY controlMixer.c. But this is how it looked - maybe somebody will find it simpler?
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#include <stdlib.h>
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#include <stdlib.h>
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#include "control.h"
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#include "control.h"
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#include "rc.h"
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#include "rc.h"
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uint8_t lastStickCommand  = STICK_COMMAND_UNDEF;
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uint8_t lastStickCommand  = STICK_COMMAND_UNDEF;
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uint8_t stickCommandTimer = 0;
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uint8_t stickCommandTimer = 0;
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ExternalControl_t externalControl;
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ExternalControl_t externalControl;
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/*
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/ *
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 * Stick diagram:
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 * Stick diagram:
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 * 2--3--4
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 * 2--3--4
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 * |     |  +
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 * |     |  +
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 *    
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 *    
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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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/*
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/ *
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 * The stick most be further from center than this to indicate a settings number (1-5).
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 * The stick most be further from center than this to indicate a settings number (1-5).
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 */
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 * /
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#define STICK_SETTINGSELECTION_THRESHOLD 70
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#define STICK_SETTINGSELECTION_THRESHOLD 70
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uint8_t control_getLeftRCStickIndex(int16_t thresholdThrottle, int16_t thresholdYaw) {
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uint8_t control_getLeftRCStickIndex(int16_t thresholdThrottle, int16_t thresholdYaw) {
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      return 5;
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      return 5;
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    return 9;
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    return 9;
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  }
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  }
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}
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}
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/*
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/ *
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 * This could be expanded to take calibrate / start / stop commands from ohter sources
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 * This could be expanded to take calibrate / start / stop commands from ohter sources
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 * than the R/C (read: Custom MK R/C project)
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 * than the R/C (read: Custom MK R/C project)
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 */
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 * /
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void control_senseStickCommands(void) {
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void control_senseStickCommands(void) {
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  uint8_t stickCommandNow = control_getLeftRCStickIndex(85, 85);
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  uint8_t stickCommandNow = control_getLeftRCStickIndex(85, 85);
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  if (stickCommandNow != lastStickCommand) {
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  if (stickCommandNow != lastStickCommand) {
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    lastStickCommand = stickCommandNow;
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    lastStickCommand = stickCommandNow;
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    if (stickCommandTimer < 201)
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    if (stickCommandTimer < 201)
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      stickCommandTimer++;
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      stickCommandTimer++;
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  }
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  }
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}
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}
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/*
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/ *
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 * This could be expanded to take calibrate / start / stop commands from ohter sources
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 * This could be expanded to take calibrate / start / stop commands from ohter sources
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 * than the R/C (read: Custom MK R/C project)
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 * than the R/C (read: Custom MK R/C project)
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 */
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 * /
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uint8_t control_getStickCommand(void) {
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uint8_t control_getStickCommand(void) {
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  // If the same command was made 200 times, it's stable.
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  // If the same command was made 200 times, it's stable.
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  if (stickCommandTimer >= 200) {
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  if (stickCommandTimer >= 200) {
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    return lastStickCommand;
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    return lastStickCommand;
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uint8_t control_isStickCommandRepeated(void) {
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uint8_t control_isStickCommandRepeated(void) {
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  return stickCommandTimer > 200 ? 1 : 0;
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  return stickCommandTimer > 200 ? 1 : 0;
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}
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}
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/*
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/ *
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 * To be fired only when the right stick is in the center position.
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 * To be fired only when the right stick is in the center position.
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 * This will cause the value of pitch and roll stick to be adjusted
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 * This will cause the value of pitch and roll stick to be adjusted
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 * to zero (not just to near zero, as per the assumption in rc.c
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 * to zero (not just to near zero, as per the assumption in rc.c
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 * about the rc signal. I had values about 50..70 with a Futaba
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 * about the rc signal. I had values about 50..70 with a Futaba
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 * R617 receiver.) This calibration is not strictly necessary, but
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 * R617 receiver.) This calibration is not strictly necessary, but
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 * for control logic that depends on the exact (non)center position
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 * for control logic that depends on the exact (non)center position
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 * of a stick, it may be useful.
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 * of a stick, it may be useful.
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 */
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 * /
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void control_setNeutral(void) {
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void control_setNeutral(void) {
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  stickOffsetPitch += stickPitch;
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  stickOffsetPitch += stickPitch;
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  stickOffsetRoll += stickRoll;
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  stickOffsetRoll += stickRoll;
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}
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}
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/*
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/ *
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 * Set the potientiometer values to the values of the respective R/C channel
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 * Set the potientiometer values to the values of the respective R/C channel
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 * right now. No slew rate limit.
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 * right now. No slew rate limit.
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 */
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 * /
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void control_initPots(void) {
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void control_initPots(void) {
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  uint8_t i;
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  uint8_t i;
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  for (i=0; i<4; i++) {
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  for (i=0; i<4; i++) {
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    pots[i] = RCChannel(CH_POTS + i) + POT_OFFSET;
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    pots[i] = RCChannel(CH_POTS + i) + POT_OFFSET;
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  }
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  }
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  for (i=4; i<8; i++) {
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  for (i=4; i<8; i++) {
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    pots[i] = PPM_in[9 + (i-4)] + POT_OFFSET;
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    pots[i] = PPM_in[9 + (i-4)] + POT_OFFSET;
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  }
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  }
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}
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}
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/*
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/ *
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 * Update potentiometer values with slow slew rate. Could be made faster if desired.
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 * Update potentiometer values with slow slew rate. Could be made faster if desired.
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 */
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 * /
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void control_updatePots(void) {
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void control_updatePots(void) {
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    if (targetvalue < 0) targetvalue = 0;
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    if (targetvalue < 0) targetvalue = 0;
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    if (pots[i] < targetvalue && pots[i] < 255) pots[i]++; else if(pots[i] > 0 && pots[i] > targetvalue) pots[i]--;
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    if (pots[i] < targetvalue && pots[i] < 255) pots[i]++; else if(pots[i] > 0 && pots[i] > targetvalue) pots[i]--;
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  }
221
  }
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}
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}
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/*
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/ *
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 * Update the variables indicating stick position from the sum of R/C, GPS and external control.
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 * Update the variables indicating stick position from the sum of R/C, GPS and external control.
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 */
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 * /
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void control_update(void) {
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void control_update(void) {
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  // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
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  // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
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  stickPitch = RCChannel(CH_PITCH) * staticParams.StickP;
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  stickPitch = RCChannel(CH_PITCH) * staticParams.StickP;
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  // (stick_pitch * 3 + RCChannel(CH_PITCH) * staticParams.StickP) / 4;
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  // (stick_pitch * 3 + RCChannel(CH_PITCH) * staticParams.StickP) / 4;
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    if(compassCalState < 5) beepNumber(compassCalState);
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    if(compassCalState < 5) beepNumber(compassCalState);
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    else beep(1000);
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    else beep(1000);
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  }
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  }
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}
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}
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/*
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/ *
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 *
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 *
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 */
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 * /
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uint8_t control_hasNewRCData(void) {
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uint8_t control_hasNewRCData(void) {
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  // return !NewPpmData--;
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  // return !NewPpmData--;
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  return (NewPpmData-- == 0) ? 1 : 0;
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  return (NewPpmData-- == 0) ? 1 : 0;
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      control_setNeutral(); // Calibrate right stick neutral position.
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      control_setNeutral(); // Calibrate right stick neutral position.
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      beepNumber(getActiveParamSet());
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      beepNumber(getActiveParamSet());
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    }
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    }
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  }
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  }
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} // end !MOTOR_RUN condition.
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} // end !MOTOR_RUN condition.
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/*