mixer.h

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#ifndef __MIXER_H__
#define __MIXER_H__
 
/* Defines */
#define PIDMIXFLIGHT(X,Y,Z,T)   (ratePID[ROLL] * (X) + ratePID[PITCH] * (Y) + eepromConfig.yawDirection * ratePID[YAW] * (Z) + throttleCmd * (T))
#define PIDMIXROVER(X,T)        (steerCmd * (X) + speedCmd * (T))
 
#define THROTTLE_DEADBAND       400
#define THROTTLE_DEADBAND_SLOPE ((4000 - THROTTLE_DEADBAND)/4000.0f)
 
/* Global Variables */
extern uint8_t numberMotor;
extern uint16_t throttleCmd;
extern int16_t steerCmd, speedCmd;
extern int16_t motor_temp[4];
 
/* Function Prototypes */
void pulseMotors(void);
void mixTable(void);
 
#endif /* __MIXER_H__ */