message: Updated C++ flight controller for new HackflightCore API
diff: @@ -41,14 +41,22 @@ int main(int argc, char ** argv)
  // Create Hackflight objects
  +<<<<<<< HEAD
  + HackflightCore::data_t hf = {};
  +
  + static AnglePidController anglePid(
  +=======
  anglePidConstants_t anglePidConstants = {
  +>>>>>>> ba7bd829c40449417782a4345333a76134fc73b1
  RATE_P,
  RATE_I,
  RATE_D,
  RATE_F,
  - LEVEL_P
  - };
  + LEVEL_P);
  +<<<<<<< HEAD
  + QuadXbfMixer mixer;
  +=======
  HackflightCore::data_t hf = {};
  HackflightCore::init(&hf, &anglePidConstants, mixerQuadXbf);
  @@ -59,6 +67,7 @@ int main(int argc, char ** argv)
  0, // low
  false // isDshot
  };
  +>>>>>>> ba7bd829c40449417782a4345333a76134fc73b1
  printf("Hit the Play button ... ");
  fflush(stdout);
  @@ -105,13 +114,18 @@ int main(int argc, char ** argv)
  float motorvals[4] = {};
  HackflightCore::step(
  &hf,
  + &anglePid,
  usec,
  - false, // no failsafe in sim
  - &motorConfig,
  + &mixer,
  motorvals);
  // Convert motor values to doubles
  - double dmotorvals[4] = {motorvals[0], motorvals[1], motorvals[2], motorvals[3]};
  + double dmotorvals[4] = {
  + motorvals[0],
  + motorvals[1],
  + motorvals[2],
  + motorvals[3]
  + };
  // Send back motor values
  motorClient.sendData(dmotorvals, sizeof(dmotorvals));
  