fn motor_mixer(rpyt: (f32, f32, f32, f32)) -> (f32, f32, f32, f32) {
        let (r, p, y, t) = rpyt;

        let fl = r + p - y + t;
        let fr = -r + p + y + t;
        let rl = r - p - y + t;
        let rr = -r - p + y + t;

        (fl, fr, rl, rr)
    }
/// Mix the force signsals from yaw pitch roll to the signals for the four motors
Mix the force signsals from yaw pitch roll to the signals for the four motors
Mix the force signsals from yaw pitch roll to the signals for the four motors
fn motor_mixer(rpyt: (f32, f32, f32, f32)) -> (f32, f32, f32, f32) {
        let (r, p, y, t) = rpyt;
        let fl = r + p - y + t;
        let fr = -r + p + y + t;
        let rl = r - p - y + t;
        let rr = -r - p + y + t;
        (fl, fr, rl, rr)
    }
fn motor_mixer ( rpyt : ( f32 , f32 , f32 , f32 ) ) -> ( f32 , f32 , f32 , f32 ) { let ( r , p , y , t ) = rpyt ; let fl = r + p - y + t ; let fr = - r + p + y + t ; let rl = r - p - y + t ; let rr = - r - p + y + t ; ( fl , fr , rl , rr ) }
Mix the force signsals from yaw pitch roll to the signals for the four motors
Mix the force signsals from yaw pitch roll to the signals for the four motors
rpyt
(f32, f32, f32, f32)
rpyt
(f32, f32, f32, f32)