rc_command.h

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/*
 * This file is part of Ninjaflight.
 *
 * Ninjaflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Ninjaflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Ninjaflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include "config/rate_profile.h"

#define PITCH_LOOKUP_LENGTH 7
#define YAW_LOOKUP_LENGTH 7
#define THROTTLE_LOOKUP_LENGTH 12

struct rc_command {
    int16_t roll, pitch, yaw, throttle;

    int16_t tpa;

    const struct rate_profile *config;

    int16_t lookup_roll_pitch[PITCH_LOOKUP_LENGTH];     
    int16_t lookup_yaw[YAW_LOOKUP_LENGTH];              
    int16_t lookup_throttle[THROTTLE_LOOKUP_LENGTH];    

    struct rx *rx;
};

void rc_command_init(struct rc_command *self, struct rx *rx);

void rc_command_set_rate_config(struct rc_command *self, const struct rate_profile *rates);

void rc_command_update(struct rc_command *self);

int16_t rc_command_axis(struct rc_command *self, uint8_t stick);

static inline int16_t rc_command_throttle(struct rc_command *self) { return self->throttle; }

static inline uint8_t rc_command_tpa(struct rc_command *self){ return self->tpa; } // TODO: tpa should probably not be here. This is just for now.