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Remove gps_common.c's dependencies on the mw.h/board.h.

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Moved some GPS code from mw.c into gps_common.c.
Moved pid values into a pidProfile_t structure; this was done so that
gps_common.c does not have a dependency on config_profile.h.
pidProfile_t lives in flight_common.h now.
Moved gps profile settings from profile_t into gpsProfile_t for the same
reason.
Removed gps_common.c's dependency on masterConfig_t by passing needed
variables into gpsInit().
This commit is contained in:
Dominic Clifton 2014-04-22 00:37:35 +01:00
parent f8d0dd98f7
commit 2c80094b0e
14 changed files with 332 additions and 251 deletions
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23
src/flight_common.h
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@ -1,5 +1,26 @@
#pragma once
enum {
PIDROLL,
PIDPITCH,
PIDYAW,
PIDALT,
PIDPOS,
PIDPOSR,
PIDNAVR,
PIDLEVEL,
PIDMAG,
PIDVEL,
PID_ITEM_COUNT
};
typedef struct pidProfile_s {
uint8_t P8[PID_ITEM_COUNT];
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
} pidProfile_t;
enum {
AI_ROLL = 0,
AI_PITCH,
@ -23,5 +44,7 @@ extern int16_t gyroZero[GYRO_INDEX_COUNT]; // see gyro_index_t
extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
extern int32_t accSum[XYZ_AXIS_COUNT];
extern int16_t heading, magHold;
void mwDisarm(void);