Quadrotor

#include "nav_lib.h"

void init_control_msg(mikrokopter::Control& req)

{

    req.digital[0] = 0;

    req.digital[1] = 0;

    req.remoteKey = 0;

    req.pitch = 0;

    req.roll = 0;

    req.yaw = 0;

    req.thrust = 40;

    req.height = 0;

    req.free = 0;

    req.frame = 7;

    req.config = 1;

}

void forward(mikrokopter::Control& req)

{

    req.roll = -15;

    req.pitch = -15;

}

void backward(mikrokopter::Control& req)

{

    req.roll = 15;

    req.pitch = 15;

}

void left(mikrokopter::Control& req)

{

    req.roll = -15;

    req.pitch = 15;

}

void right(mikrokopter::Control& req)

{

    req.roll = 15;

    req.pitch = -15;

}

void set_thrust(mikrokopter::Control& req, int thrust)

{

    req.thrust = thrust;

}