esp-fc

#pragma once

#include "EscDriver.h"
#include "Model.h"

namespace Espfc::Output {

class Mixer
{
public:
  Mixer(Model& model);
  int begin();
  int update();

  void updateMixer(const MixerConfig& mixer, float* outputs);
  float limitThrust(float thrust, ThrottleLimitType type, int8_t limit);
  float limitOutput(float output, const OutputChannelConfig& occ, int limit);
  void writeOutput(const MixerConfig& mixer, float* out);
  void readTelemetry();
  float inline erpmToHz(float erpm);
  float inline erpmToRpm(float erpm);
  bool inline _stop(void);

private:
  Model& _model;
  EscDriver* _motor;
  EscDriver* _servo;

  EscDriver escMotor;
  EscDriver escServo;
  uint32_t _statsCounter;
  uint32_t _statsCounterMax;
  float _erpmToHz;
};

} // namespace Espfc::Output