use mavlink

1 files changed, 38 insertions, 0 deletions

diff --git a/include/controller.h b/include/controller.h
new file mode 100644
index 0000000..a74d035
--- /dev/null
+++ b/include/controller.h
@@ -0,0 +1,38 @@
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#define AXIS_MIN -32768
+#define AXIS_MAX 32767
+
+#define CHANNEL_UNUSED 65535
+#define CHANNELS 8
+
+typedef uint16_t channel_t;
+
+inline channel_t channel_clamp(channel_t channel, channel_t min, channel_t max) {
+    channel_t upper = (channel < max) ? channel : max;
+    return (min < upper) ? upper : min;
+}
+
+inline void channel_step(channel_t* channels, size_t channel_index, char step, channel_t min, channel_t max) {
+    int current = (int) channels[channel_index];
+    int next = current + step;
+    if (next > (int) max) {
+    	next = max;
+    }
+    if (next < (int) min) {
+    	next = min;
+    }
+    channels[channel_index] = (channel_t) next;
+}
+
+void channel_reset(channel_t* channels);
+void event_axis(channel_t* channels, int axis, int value);
+void event_button(channel_t* channels, int button, bool value);
+
+
+#endif
\ No newline at end of file