#ifndef F_CPU
#define F_CPU 16000000UL
#endif

#include <avr/io.h>

static uint16_t clampus(int16_t v){ if(v<1000)v=1000; if(v>2000)v=2000; return v; }

void elevon(uint16_t roll,uint16_t pitch,uint16_t *left,uint16_t *right){
  int16_t r=(int16_t)roll-1500, p=(int16_t)pitch-1500;
  *left =clampus(1500 + p + r);
  *right=clampus(1500 + p - r);
}
int main(void){
  uint16_t l,rr;
  elevon(1600,1450,&l,&rr);
  (void)l;(void)rr;
  for(;;){}
}