text: #ifndef kkmulticopter_h
  #define kkmulticopter_h
  
  #define KKMulticopterBoard_CONTROL_MIN 1000
  #define KKMulticopterBoard_CONTROL_MAX 2000
  
  #define KKMulticopterBoard_MODE_NORMAL 1
  #define KKMulticopterBoard_MODE_ACRO   2
  #define KKMulticopterBoard_MODE_UFO    3
  
  #include <Arduino.h>
  #include <Servo.h>
  
  class KKMulticopterBoard
  {
      public:
          KKMulticopterBoard(int, int, int, int);
          
          void arm();
          void disarm();
          void setMode(int);
          int  getMode();
          
          void idle();
          void level();
  
          void setAileron(int);
          int  getAileron();
          
          void setElevator(int);
          int  getElevator();
  
          void setThrottle(int);
          int  getThrottle();
  
          void setRudder(int);
          int  getRudder();
      private:
          Servo _ail;
          Servo _ele;
          Servo _thr;
          Servo _rud;
  
          int _controlMax;
          int _controlMin;
  
          int _aileron;
          int _elevator;
          int _throttle;
          int _rudder;
          
          boolean _isArmed;
          int _mode;
  
          int _getControlValue(float);
  };
  
  #endif
  