message: =Use Motors class
diff: @@ -82,7 +82,7 @@ int main(int argc, char ** argv)
  ALT_HOLD_KP,
  ALT_HOLD_KI);
  - static Mixer mixer = QuadXbfMixer::make();
  + static NewMixer mixer = NewQuadXbfMixer::make();
  printf("Hit the Play button ... ");
  fflush(stdout);
  @@ -115,18 +115,22 @@ int main(int argc, char ** argv)
  PidController * pidControllers[2] = {&anglePid, &altHoldPid};
  // Run core Hackflight algorithm to get motor values
  - float mvals[4] = {};
  - Hackflight::step(
  + auto motors = Hackflight::step(
  demands,
  vstate,
  - pidControllers, 2,
  + pidControllers,
  + 2,
  pidReset,
  usec,
  - mixer,
  - mvals);
  + mixer);
  // Convert motor values to doubles
  - double dmotorvals[4] = {mvals[0], mvals[1], mvals[2], mvals[3]};
  + double dmotorvals[4] = {
  + motors.values[0],
  + motors.values[1],
  + motors.values[2],
  + motors.values[3]
  + };
  // Send back motor values
  motorClient.sendData(dmotorvals, sizeof(dmotorvals));
  