#include "ai.h"
#include <string.h>
#include "bsp\uart.h"
#include "component\crc16.h"
#include "component\crc8.h"
#include "component\user_math.h"
#include "gimbal.h"
#include "chassis.h"
#include "remote_control.h"
#define a_pit 0.000744005
#define b_pit 0.10966763
#define a_yaw 0.0078782936
#define b_yaw 0.011819322





int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl) 
{
	if(rc_ctrl->sw[2]==1800){
	g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
	g_cmd->delta_pit=((rc_ctrl->ch[2]-780)*(0.6/791));//806~-780,0.473~-0.71
	g_cmd->delta_yaw=((rc_ctrl->ch[0])*(1.8/808));//400~-397

	}
	else if(rc_ctrl->sw[2]==200)
	{
	g_cmd->mode=GIMBAL_MODE_RELAX;
	}
	
}


int8_t remote_chassis_ParseHost(Chassis_CMD_t *c_cmd,Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl) 
{
	if(rc_ctrl->sw[4]==1000){
	c_cmd->mode=CHASSIS_MODE_FOLLOW_GIMBAL_35;
	g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
	g_cmd->delta_pit=((rc_ctrl->ch[2]-963)*(0.6/-639));//806~-780,0.473~-0.71
	g_cmd->delta_yaw=((rc_ctrl->ch[3]+54)*(1.8/348));//400~-397		
	}
	else if(rc_ctrl->sw[4]==1694){
	g_cmd->mode=GIMBAL_MODE_RELAX;
	c_cmd->mode=CHASSIS_MODE_RELAX;	
	}
	
}