:boom: Refactor HoverBitController to only have API relevant for HoverBit

1 files changed, 13 insertions, 20 deletions

diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp
index 16c6bf1..9860b43 100644
--- a/source/HoverBitController.cpp
+++ b/source/HoverBitController.cpp
@@ -44,8 +44,7 @@ void HoverBitController::init(MicroBit* _uBit) {
     roll = 0;
     yaw = 0;
     throttle = 0;
-    failSafeC = 0;
-    receiveTime = (*uBit).systemTime();
+    lastReceiveTime = (*uBit).systemTime();
 
     /* I am not completly sure what this does, but it seems to me like this is
        putting the air:bit board in some kind of "bind-mode", on the spec-sheet
@@ -62,14 +61,15 @@ void HoverBitController::init(MicroBit* _uBit) {
  * This is not implemented yet.
  */
 bool HoverBitController::failSafe(void) {
-    unsigned long deltaReceiveTime = (*uBit.systemTime()) - receiveTime;
+    unsigned long deltaReceiveTime = (*uBit).systemTime() - lastReceiveTime;
     if (deltaReceiveTime > FSAFE_TLIM_THROTTLE) {
         Throttle(0);
-        Roll(0);
-        Servo1(0);
+        Rudder(0);
+        AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1);
     }
     if (deltaReceiveTime > FSAFE_TLIM_ARM) {
         Arm(0);
+        AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1);
     }
     return (deltaReceiveTime > FSAFE_TLIM_THROTTLE) || (deltaReceiveTime > FSAFE_TLIM_ARM);
 }
@@ -77,7 +77,7 @@ bool HoverBitController::failSafe(void) {
 /**
  * This returns the current voltage of the battery.
  */
-unsigned int HoverBitController::getBatteryVoltage() {
+unsigned int HoverBitController::GetBatteryVoltage() {
     float batteryFactor = 4.42;
     int batteryMilliVolt = 3700;
     return ((float)((&(*uBit).io.P0)->getAnalogValue()) * batteryFactor * 0.05) + ((float)batteryMilliVolt * 0.95);
@@ -164,22 +164,15 @@ void HoverBitController::Throttle(int _throttle) {
     else { throttle = _throttle; }
     lastReceiveTime = (*uBit).systemTime();
 }
-int HoverBitController::Servo1() {
-    return servo_1;
-}
-void HoverBitController::Servo1(int _servo1) {
-    if      (_servo1 > 180) { servo_1 = 180; }
-    else if (_servo1 <   0) { servo_1 =   0; }
-    else { servo_1 = _servo1; }
-    lastReceiveTime = (*uBit).systemTime();
-}
-int HoverBitController::Roll() {
+int HoverBitController::Rudder() {
+    // The AirBit uses the roll parameter to control the hoverbit's rudder.
     return roll;
 }
-void HoverBitController::Roll(int _roll) {
-    if      (_roll >   90) { roll =  90; }
-    else if (_roll <  -90) { roll = -90; }
-    else    { roll = _roll; }
+void HoverBitController::Rudder(int _rudder) {
+    // The AirBit uses the roll parameter to control the hoverbit's rudder.
+    if      (_rudder >   90) { roll =  90; }
+    else if (_rudder <  -90) { roll = -90; }
+    else    { roll = _rudder; }
     lastReceiveTime = (*uBit).systemTime();
 }
 bool HoverBitController::Arm() {