/*
  AeroQuad v3.0.1 - February 2012
  www.AeroQuad.com
  Copyright (c) 2012 Ted Carancho.  All rights reserved.
  An Open Source Arduino based multicopter.
 
  This program 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. 
 
  This program 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 this program. If not, see <http://www.gnu.org/licenses/>. 
*/

#ifndef _AQ_PROCESS_FLIGHT_CONTROL_HEX_Y6_MODE_H_
#define _AQ_PROCESS_FLIGHT_CONTROL_HEX_Y6_MODE_H_

/*  
             UPPER/LOWER


       CW/CCW           CCW/CW
            
           0....Front....0  
           ......***......    
           ......***......
           ......***......    
           0....Back.....0  
      
                CW/CCW           
*/     

#include "FlightControlVariable.h"

#define LEFT            MOTOR1
#define RIGHT           MOTOR2
#define REAR            MOTOR3
#define LEFT_UNDER      MOTOR4
#define RIGHT_UNDER     MOTOR5
#define REAR_UNDER      MOTOR6
#define LASTMOTOR       (MOTOR6+1)

int motorMaxCommand[6] = {0,0,0,0,0,0};
int motorMinCommand[6] = {0,0,0,0,0,0};
int motorConfiguratorCommand[6] = {0,0,0,0,0,0};


void applyMotorCommand() {
  // Front = Front/Right, Back = Left/Rear, Left = Front/Left, Right = Right/Rear 
  motorCommand[REAR] =        throttle                        + (motorAxisCommandPitch*4/3) - (YAW_DIRECTION * motorAxisCommandYaw);
  motorCommand[RIGHT] =       throttle - motorAxisCommandRoll - (motorAxisCommandPitch*2/3) + (YAW_DIRECTION * motorAxisCommandYaw);  
  motorCommand[LEFT] =        throttle + motorAxisCommandRoll - (motorAxisCommandPitch*2/3) - (YAW_DIRECTION * motorAxisCommandYaw);
  motorCommand[REAR_UNDER] =  throttle                        + (motorAxisCommandPitch*4/3) + (YAW_DIRECTION * motorAxisCommandYaw);
  motorCommand[RIGHT_UNDER] = throttle - motorAxisCommandRoll - (motorAxisCommandPitch*2/3) - (YAW_DIRECTION * motorAxisCommandYaw);
  motorCommand[LEFT_UNDER] =  throttle + motorAxisCommandRoll - (motorAxisCommandPitch*2/3) + (YAW_DIRECTION * motorAxisCommandYaw);
}

#endif // #define _AQ_PROCESS_FLIGHT_CONTROL_HEX_Y6_MODE_H_
