File content as of revision 8:28b866df62cf:

#include "mbed.h"

PwmOut throttle(p21);
PwmOut roll(p22);
PwmOut pitch(p23);
//PwmOut yaw(p24);
PwmOut arm(p25);
PwmOut baroHold(p26);

    //TODO see if pwm output gets initialized 
    public void FlightControl::startPwm(){
        throttle.period_ms(20);
        roll.period_ms(20);
        pitch.period_ms(20);
//        yaw.period_ms(20);
        arm.period_ms(20);
    }
    
    public void FlightControl::stopPwm(){
        throttle.pulsewidth_us(0);
        roll.pulsewidth_us(0);
        pitch.pulsewidth_us(0);
//        yaw.pulsewidth_us(0);
        throttle.pulsewidth_us(0);
    }

    //-500 means full back; 500 means full forward
    public void FlightControl::setPitch(int val){
        if (val > 500) val = 500;
        else if (val < -500) val = 0;
        pitch.pulsewidth_us(1500 + val);
    }
    
    //-500 means full left; 500 means full right
    public void FlightControl::setRoll(int val){
        if (val > 500) val = 500;
        else if (val < -500) val = 0;
        roll.pulsewidth_us(1500 + val);
    }
    
    //0 means no throttle, 1000 means full throttle
    public void FlightControl::setThrottle(int val){
        if (val > 1000) val = 1000;
        else if (val < 0) val = 0;
        throttle.pulsewidth_us(1000 + val);        
    }
    
    public void FlightControl::setArmState(bool armState){
        if (armState) arm.pulsewidth_us(2000);
        else arm.pulsewidth_us(1000);
    }
    
    public void FlightControl::setHoldAltitude(bool hold){
        if (hold) baroHold.pulsewidth_us(2000);
        else baroHold.pulsewidth_us(1000);
    }