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Relocate some structures and code to the right places.

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This cleans up the include file order somewhat and fixes a couple of
dependencies.

The goal of this is to rename flight.c/flight.h to pid.c/pid.h.
This commit is contained in:
Dominic Clifton 2015-01-31 23:47:51 +01:00
parent a9b2c39872
commit 53406a7ac7
20 changed files with 198 additions and 145 deletions
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30
src/main/flight/imu.h
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@ -22,6 +22,24 @@ extern uint32_t accTimeSum;
extern int accSumCount;
extern float accVelScale;
typedef struct rollAndPitchInclination_s {
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800
int16_t rollDeciDegrees;
int16_t pitchDeciDegrees;
} rollAndPitchInclination_t_def;
typedef union {
int16_t raw[ANGLE_INDEX_COUNT];
rollAndPitchInclination_t_def values;
} rollAndPitchInclination_t;
extern rollAndPitchInclination_t inclination;
typedef struct accDeadband_s {
uint8_t xy; // set the acc deadband for xy-Axis
uint8_t z; // set the acc deadband for z-Axis, this ignores small accelerations
} accDeadband_t;
typedef struct imuRuntimeConfig_s {
uint8_t acc_lpf_factor;
uint8_t acc_unarmedcal;
@ -31,11 +49,11 @@ typedef struct imuRuntimeConfig_s {
} imuRuntimeConfig_t;
void imuConfigure(
imuRuntimeConfig_t *initialImuRuntimeConfig,
pidProfile_t *initialPidProfile,
accDeadband_t *initialAccDeadband,
float accz_lpf_cutoff,
uint16_t throttle_correction_angle
imuRuntimeConfig_t *initialImuRuntimeConfig,
pidProfile_t *initialPidProfile,
accDeadband_t *initialAccDeadband,
float accz_lpf_cutoff,
uint16_t throttle_correction_angle
);
void calculateEstimatedAltitude(uint32_t currentTime);
@ -47,3 +65,5 @@ float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
int16_t imuCalculateHeading(t_fp_vector *vec);
void imuResetAccelerationSum(void);