source: orbit/octave/GenerateAudioCommand/throttleYawPitch.m @ 389c84b

%Copyright: Puzzlebox Productions LLC
%This code is released under GPL v2.
%Nov. 29th, 2012

function code=throttleYawPitch(throttle,yaw,pitch,_channel)

  checkSum=0;
 mainCode=0;

  %throttle
for n=1:7
mainCode=bitset(mainCode,21+n,bitget(throttle,n));%getting the first 7 digits to mainCode
endfor  


  mainCode=bitset(mainCode,21,1);  %meaning unclear, possibly left button.
  
  %channel selection first half
  if (_channel=='C') mainCode=bitset(mainCode,20,1);
  else mainCode=bitset(mainCode,20,0); %this digit equals 0 in channel A or B
  endif

for n=1:7
mainCode=bitset(mainCode,12+n,bitget(yaw,n));%yaw
endfor

  %channel selection second half
  if (_channel=='A') mainCode=bitset(mainCode,12,1);
  else mainCode=bitset(mainCode,12,0); %if channel B or C, this digit equals 0;
endif
  
  mainCode=bitset(mainCode,11,0);% meaning unclear, possibly right button.
  
for n=1:6
mainCode=bitset(mainCode,4+n,bitget(pitch,n));%pitch  
endfor

  % CheckSum
  for n=1:6  checkSum += bitand(bitshift(mainCode,-(4*n)),15);%sum up every 4 digits in the code
  endfor

  checkSum=bitand(checkSum,15); %get the last 4 bits of the sum
  checkSum=bitand(bitcmp(checkSum,4)+1,15);%16-sum is the formula of this helicopter
  for n=1:4
  mainCode=bitset(mainCode,n,bitget(checkSum,n)); %get the last 4 digit of CheckSum
 endfor
  codeString=dec2bin(mainCode);
code=[];
for n=1:28
code=[code str2num(codeString(n))];
endfor