/*
 * This file is part of Cleanflight.
 *
 * Cleanflight 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.
 *
 * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include "common/time.h"

extern int16_t magHold;
extern bool isRXDataNew;

union rollAndPitchTrims_u;
void applyAndSaveAccelerometerTrimsDelta(union rollAndPitchTrims_u *rollAndPitchTrimsDelta);
void handleInflightCalibrationStickPosition();

void mwDisarm(void);
void mwArm(void);

void processRx(timeUs_t currentTimeUs);
void updateLEDs(void);
void updateRcCommands(void);

void taskMainPidLoop(timeUs_t currentTimeUs);
float getSetpointRate(int axis);
float getRcDeflection(int axis);
float getRcDeflectionAbs(int axis);