/* -*- indent-tabs-mode:T; c-basic-offset:8; tab-width:8; -*- vi: set ts=8: *  $Id: Radio.h,v 2.1 2002/09/26 16:09:27 tramm Exp $ * * (c) Trammell Hudson <hudson@rotomotion.com> * * PPM decoder object. * * Accepts signals from the radio and translates them into * servo commands. * ************** * *  This file is part of the autopilot simulation package. * *  Autopilot 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 2 of the License, or *  (at your option) any later version. * *  Autopilot 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 Autopilot; if not, write to the Free Software *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA * */#ifndef _Radio_h_#define _Radio_h_#include <unistd.h>namespace imufilter{class Radio{public:	Radio();	int			collective;	int			throttle;	int			roll;	int			pitch;	int			yaw;	int			mode;	int			manual;	int			extra;	int			pulse_width;	bool			ppm_valid;	void	update(		const char *		line	);	int	output(		char *			line,		size_t			len	) const;private:	const int		pulse_width_index;	const int		collective_index;	const int		throttle_index;	const int		roll_index;	const int		pitch_index;	const int		yaw_index;	const int		extra_index;	const int		manual_index;	const int		manual_threshold;	const int		mode_index;	const int		mode_threshold_0;	const int		mode_threshold_1;};}#endif