Relocate some structures and code to the right places.

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.

src/main/blackbox/blackbox.c

@@ -36,7 +36,6 @@
 #include "drivers/light_led.h"
 #include "drivers/sound_beeper.h"
 
-#include "flight/flight.h"
 #include "sensors/sensors.h"
 #include "sensors/boardalignment.h"
 #include "sensors/sonar.h"
@@ -45,17 +44,11 @@
 #include "sensors/barometer.h"
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
+
 #include "io/beeper.h"
 #include "io/display.h"
 #include "io/escservo.h"
-#include "rx/rx.h"
 #include "io/rc_controls.h"
-#include "flight/mixer.h"
-#include "flight/altitudehold.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/autotune.h"
-#include "flight/navigation.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -63,9 +56,18 @@
 #include "io/serial_cli.h"
 #include "io/serial_msp.h"
 #include "io/statusindicator.h"
+
+#include "rx/rx.h"
 #include "rx/msp.h"
+
 #include "telemetry/telemetry.h"
 
+#include "flight/mixer.h"
+#include "flight/altitudehold.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/navigation.h"
+
 #include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"

src/main/blackbox/blackbox_io.c

@@ -21,24 +21,19 @@
 #include "drivers/light_led.h"
 #include "drivers/sound_beeper.h"
 
-#include "flight/flight.h"
 #include "sensors/sensors.h"
 #include "sensors/boardalignment.h"
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
+
 #include "io/beeper.h"
 #include "io/display.h"
 #include "io/escservo.h"
 #include "rx/rx.h"
 #include "io/rc_controls.h"
-#include "flight/mixer.h"
-#include "flight/altitudehold.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/autotune.h"
-#include "flight/navigation.h"
+
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -50,6 +45,12 @@
 #include "telemetry/telemetry.h"
 #include "common/printf.h"
 
+#include "flight/mixer.h"
+#include "flight/altitudehold.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/navigation.h"
+
 #include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"

src/main/config/config.c

@@ -27,38 +27,38 @@
 #include "common/axis.h"
 #include "common/maths.h"
 
-#include "flight/flight.h"
-
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/compass.h"
-
 #include "drivers/system.h"
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
 
 #include "sensors/sensors.h"
 #include "sensors/gyro.h"
 #include "sensors/compass.h"
-
-#include "io/statusindicator.h"
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
-#include "drivers/serial.h"
-#include "io/serial.h"
-#include "telemetry/telemetry.h"
-
-#include "flight/mixer.h"
 #include "sensors/boardalignment.h"
 #include "sensors/battery.h"
+
+#include "io/statusindicator.h"
+#include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "rx/rx.h"
 #include "io/rc_controls.h"
 #include "io/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/flight.h"
 #include "flight/failsafe.h"
 #include "flight/altitudehold.h"
 #include "flight/imu.h"

src/main/drivers/serial_uart.c

@@ -40,6 +40,10 @@ uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode);
 uartPort_t *serialUSART3(uint32_t baudRate, portMode_t mode);
 
 static void usartConfigurePinInversion(uartPort_t *uartPort) {
+#if !defined(INVERTER) && !defined(STM32F303xC)
+    UNUSED(uartPort);
+#endif
+
 #ifdef INVERTER
     if (uartPort->port.inversion == SERIAL_INVERTED && uartPort->USARTx == INVERTER_USART) {
         // Enable hardware inverter if available.

src/main/flight/altitudehold.c

@@ -30,14 +30,13 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 
-#include "flight/flight.h"
-
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
 #include "sensors/sonar.h"
 
 #include "flight/mixer.h"
+#include "flight/flight.h"
 #include "flight/imu.h"
 
 #include "rx/rx.h"

src/main/flight/autotune.c

@@ -28,8 +28,14 @@
 #include "common/maths.h"
 
 #include "drivers/system.h"
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+
+#include "sensors/sensors.h"
+#include "sensors/acceleration.h"
 
 #include "flight/flight.h"
+#include "flight/imu.h"
 
 #include "config/config.h"
 #include "blackbox/blackbox.h"

src/main/flight/flight.c

@@ -26,20 +26,24 @@
 #include "common/axis.h"
 #include "common/maths.h"
 
-#include "config/runtime_config.h"
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/acceleration.h"
 
 #include "rx/rx.h"
 
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
-#include "sensors/sensors.h"
-#include "sensors/gyro.h"
-
 #include "io/rc_controls.h"
+#include "io/gps.h"
+
 #include "flight/flight.h"
+#include "flight/imu.h"
 #include "flight/navigation.h"
 #include "flight/autotune.h"
-#include "io/gps.h"
+
+#include "config/runtime_config.h"
 
 extern uint16_t cycleTime;
 extern uint8_t motorCount;
@@ -65,12 +69,6 @@ typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig
 
 pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
 
-void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
-{
-    rollAndPitchTrims->values.roll = 0;
-    rollAndPitchTrims->values.pitch = 0;
-}
-
 void resetErrorAngle(void)
 {
     errorAngleI[ROLL] = 0;

src/main/flight/flight.h

@@ -65,44 +65,9 @@ typedef enum {
 
 #define FLIGHT_DYNAMICS_INDEX_COUNT 3
 
-typedef struct int16_flightDynamicsTrims_s {
-    int16_t roll;
-    int16_t pitch;
-    int16_t yaw;
-} flightDynamicsTrims_def_t;
-
-typedef union {
-    int16_t raw[3];
-    flightDynamicsTrims_def_t values;
-} flightDynamicsTrims_t;
-
-typedef struct rollAndPitchTrims_s {
-    int16_t roll;
-    int16_t pitch;
-} rollAndPitchTrims_t_def;
-
-typedef union {
-    int16_t raw[2];
-    rollAndPitchTrims_t_def values;
-} rollAndPitchTrims_t;
-
-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;
-
-
 #define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
 #define DECIDEGREES_TO_DEGREES(angle) (angle / 10.0f)
 
-extern rollAndPitchInclination_t inclination;
-
 extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
 extern int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT];
 
@@ -118,7 +83,6 @@ extern int32_t AltHold;
 extern int32_t vario;
 
 void setPIDController(int type);
-void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
 void resetErrorAngle(void);
 void resetErrorGyro(void);
 

src/main/flight/imu.c

@@ -26,11 +26,8 @@
 #include <platform.h>
 
 #include "common/axis.h"
-#include "flight/flight.h"
 
 #include "drivers/system.h"
-
-
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "drivers/compass.h"
@@ -42,14 +39,16 @@
 #include "sensors/barometer.h"
 #include "sensors/sonar.h"
 
+#include "flight/mixer.h"
+#include "flight/flight.h"
+#include "flight/imu.h"
+
 #include "config/runtime_config.h"
 
-#include "flight/mixer.h"
-#include "flight/imu.h"
 
 extern int16_t debug[4];
 
-int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
+int16_t gyroADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
 int32_t accSum[XYZ_AXIS_COUNT];
 
 uint32_t accTimeSum = 0;        // keep track for integration of acc
@@ -311,7 +310,7 @@ void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
 
     gyroUpdate();
     if (sensors(SENSOR_ACC)) {
-        updateAccelerationReadings(accelerometerTrims);
+        updateAccelerationReadings(accelerometerTrims); // TODO rename to accelerometerUpdate and rename many other 'Acceleration' references to be 'Accelerometer'
         imuCalculateEstimatedAttitude();
     } else {
         accADC[X] = 0;

src/main/flight/imu.h

@@ -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;
@@ -47,3 +65,5 @@ float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
 int16_t imuCalculateHeading(t_fp_vector *vec);
 
 void imuResetAccelerationSum(void);
+
+

src/main/flight/mixer.c

@@ -30,14 +30,21 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_output.h"
 #include "drivers/pwm_mapping.h"
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
 
 #include "rx/rx.h"
+
 #include "io/gimbal.h"
 #include "io/escservo.h"
 #include "io/rc_controls.h"
 
+#include "sensors/sensors.h"
+#include "sensors/acceleration.h"
+
 #include "flight/mixer.h"
 #include "flight/flight.h"
+#include "flight/imu.h"
 
 #include "config/runtime_config.h"
 #include "config/config.h"

src/main/io/rc_controls.c

@@ -31,9 +31,6 @@
 
 #include "drivers/system.h"
 
-#include "flight/flight.h"
-#include "flight/navigation.h"
-
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 
@@ -45,13 +42,18 @@
 
 #include "io/gps.h"
 #include "io/beeper.h"
-#include "mw.h"
 
 #include "rx/rx.h"
 #include "io/escservo.h"
 #include "io/rc_controls.h"
 #include "io/rc_curves.h"
 
+#include "flight/flight.h"
+#include "flight/navigation.h"
+
+#include "mw.h"
+
+
 static escAndServoConfig_t *escAndServoConfig;
 static pidProfile_t *pidProfile;
 

src/main/io/serial_cli.c

@@ -44,18 +44,18 @@
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
-#include "flight/flight.h"
-#include "flight/mixer.h"
-#include "flight/navigation.h"
-#include "flight/failsafe.h"
-#include "rx/rx.h"
+
+
 #include "io/escservo.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "io/rc_controls.h"
 #include "io/serial.h"
 #include "io/ledstrip.h"
+
+#include "rx/rx.h"
 #include "rx/spektrum.h"
+
 #include "sensors/battery.h"
 #include "sensors/boardalignment.h"
 #include "sensors/sensors.h"
@@ -63,6 +63,13 @@
 #include "sensors/gyro.h"
 #include "sensors/compass.h"
 #include "sensors/barometer.h"
+
+#include "flight/flight.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/navigation.h"
+#include "flight/failsafe.h"
+
 #include "telemetry/telemetry.h"
 
 #include "config/runtime_config.h"

src/main/io/serial_msp.c

@@ -41,20 +41,16 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 
-#include "flight/flight.h"
-#include "flight/mixer.h"
-#include "flight/failsafe.h"
-#include "flight/navigation.h"
-#include "flight/altitudehold.h"
-
 #include "rx/rx.h"
 #include "rx/msp.h"
+
 #include "io/escservo.h"
 #include "io/rc_controls.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "io/serial.h"
 #include "io/ledstrip.h"
+
 #include "telemetry/telemetry.h"
 
 #include "sensors/boardalignment.h"
@@ -66,6 +62,13 @@
 #include "sensors/compass.h"
 #include "sensors/gyro.h"
 
+#include "flight/flight.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/failsafe.h"
+#include "flight/navigation.h"
+#include "flight/altitudehold.h"
+
 #include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"

src/main/main.c

@@ -25,6 +25,8 @@
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/atomic.h"
+#include "common/maths.h"
+
 #include "drivers/nvic.h"
 
 #include "drivers/sensor.h"
@@ -45,30 +47,34 @@
 #include "drivers/bus_spi.h"
 #include "drivers/inverter.h"
 
-#include "flight/flight.h"
-#include "flight/mixer.h"
+#include "rx/rx.h"
 
 #include "io/serial.h"
-#include "flight/failsafe.h"
-#include "flight/navigation.h"
-
-#include "rx/rx.h"
 #include "io/gps.h"
 #include "io/escservo.h"
 #include "io/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/ledstrip.h"
 #include "io/display.h"
+
 #include "sensors/sensors.h"
 #include "sensors/sonar.h"
 #include "sensors/barometer.h"
 #include "sensors/compass.h"
 #include "sensors/acceleration.h"
 #include "sensors/gyro.h"
-#include "telemetry/telemetry.h"
-#include "blackbox/blackbox.h"
 #include "sensors/battery.h"
 #include "sensors/boardalignment.h"
+
+#include "telemetry/telemetry.h"
+#include "blackbox/blackbox.h"
+
+#include "flight/flight.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/failsafe.h"
+#include "flight/navigation.h"
+
 #include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"

src/main/mw.c

@@ -37,7 +37,6 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
 
-#include "flight/flight.h"
 #include "sensors/sensors.h"
 #include "sensors/boardalignment.h"
 #include "sensors/sonar.h"
@@ -46,18 +45,12 @@
 #include "sensors/barometer.h"
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
+
 #include "io/beeper.h"
 #include "io/display.h"
 #include "io/escservo.h"
-#include "rx/rx.h"
 #include "io/rc_controls.h"
 #include "io/rc_curves.h"
-#include "flight/mixer.h"
-#include "flight/altitudehold.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/autotune.h"
-#include "flight/navigation.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -65,10 +58,22 @@
 #include "io/serial_cli.h"
 #include "io/serial_msp.h"
 #include "io/statusindicator.h"
+
+#include "rx/rx.h"
 #include "rx/msp.h"
+
 #include "telemetry/telemetry.h"
 #include "blackbox/blackbox.h"
 
+#include "flight/mixer.h"
+#include "flight/flight.h"
+#include "flight/altitudehold.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/autotune.h"
+#include "flight/navigation.h"
+
+
 #include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"

src/main/sensors/acceleration.c

@@ -25,8 +25,6 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 
-#include "flight/flight.h"
-
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
 #include "io/beeper.h"
@@ -36,6 +34,8 @@
 
 #include "sensors/acceleration.h"
 
+int16_t accADC[XYZ_AXIS_COUNT];
+
 acc_t acc;                       // acc access functions
 uint8_t accHardware = ACC_DEFAULT;  // which accel chip is used/detected
 sensor_align_e accAlign = 0;
@@ -71,6 +71,12 @@ bool isOnFirstAccelerationCalibrationCycle(void)
     return calibratingA == CALIBRATING_ACC_CYCLES;
 }
 
+void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
+{
+    rollAndPitchTrims->values.roll = 0;
+    rollAndPitchTrims->values.pitch = 0;
+}
+
 void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
 {
     static int32_t a[3];
@@ -92,9 +98,9 @@ void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
 
     if (isOnFinalAccelerationCalibrationCycle()) {
         // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
-        accelerationTrims->raw[FD_ROLL] = (a[FD_ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
-        accelerationTrims->raw[FD_PITCH] = (a[FD_PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
-        accelerationTrims->raw[FD_YAW] = (a[FD_YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
+        accelerationTrims->raw[X] = (a[X] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
+        accelerationTrims->raw[Y] = (a[Y] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
+        accelerationTrims->raw[Z] = (a[Z] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
 
         resetRollAndPitchTrims(rollAndPitchTrims);
 
@@ -113,9 +119,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
 
     // Saving old zeropoints before measurement
     if (InflightcalibratingA == 50) {
-        accZero_saved[FD_ROLL] = accelerationTrims->raw[FD_ROLL];
-        accZero_saved[FD_PITCH] = accelerationTrims->raw[FD_PITCH];
-        accZero_saved[FD_YAW] = accelerationTrims->raw[FD_YAW];
+        accZero_saved[X] = accelerationTrims->raw[X];
+        accZero_saved[Y] = accelerationTrims->raw[Y];
+        accZero_saved[Z] = accelerationTrims->raw[Z];
         angleTrim_saved.values.roll = rollAndPitchTrims->values.roll;
         angleTrim_saved.values.pitch = rollAndPitchTrims->values.pitch;
     }
@@ -136,9 +142,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
             AccInflightCalibrationMeasurementDone = true;
             queueConfirmationBeep(5); // beeper to indicating the end of calibration
             // recover saved values to maintain current flight behaviour until new values are transferred
-            accelerationTrims->raw[FD_ROLL] = accZero_saved[FD_ROLL];
-            accelerationTrims->raw[FD_PITCH] = accZero_saved[FD_PITCH];
-            accelerationTrims->raw[FD_YAW] = accZero_saved[FD_YAW];
+            accelerationTrims->raw[X] = accZero_saved[X];
+            accelerationTrims->raw[Y] = accZero_saved[Y];
+            accelerationTrims->raw[Z] = accZero_saved[Z];
             rollAndPitchTrims->values.roll = angleTrim_saved.values.roll;
             rollAndPitchTrims->values.pitch = angleTrim_saved.values.pitch;
         }
@@ -147,9 +153,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
     // Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
     if (AccInflightCalibrationSavetoEEProm) {      // the aircraft is landed, disarmed and the combo has been done again
         AccInflightCalibrationSavetoEEProm = false;
-        accelerationTrims->raw[FD_ROLL] = b[FD_ROLL] / 50;
-        accelerationTrims->raw[FD_PITCH] = b[FD_PITCH] / 50;
-        accelerationTrims->raw[FD_YAW] = b[FD_YAW] / 50 - acc_1G;    // for nunchuck 200=1G
+        accelerationTrims->raw[X] = b[X] / 50;
+        accelerationTrims->raw[Y] = b[Y] / 50;
+        accelerationTrims->raw[Z] = b[Z] / 50 - acc_1G;    // for nunchuck 200=1G
 
         resetRollAndPitchTrims(rollAndPitchTrims);
 
@@ -159,9 +165,9 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
 
 void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
 {
-    accADC[FD_ROLL] -= accelerationTrims->raw[FD_ROLL];
-    accADC[FD_PITCH] -= accelerationTrims->raw[FD_PITCH];
-    accADC[FD_YAW] -= accelerationTrims->raw[FD_YAW];
+    accADC[X] -= accelerationTrims->raw[X];
+    accADC[Y] -= accelerationTrims->raw[Y];
+    accADC[Z] -= accelerationTrims->raw[Z];
 }
 
 void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)

src/main/sensors/acceleration.h

@@ -36,12 +36,20 @@ extern sensor_align_e accAlign;
 extern acc_t acc;
 extern uint16_t acc_1G;
 
-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;
+extern int16_t accADC[XYZ_AXIS_COUNT];
+
+typedef struct rollAndPitchTrims_s {
+    int16_t roll;
+    int16_t pitch;
+} rollAndPitchTrims_t_def;
+
+typedef union {
+    int16_t raw[2];
+    rollAndPitchTrims_t_def values;
+} rollAndPitchTrims_t;
 
 bool isAccelerationCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
+void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
 void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
 void setAccelerationTrims(flightDynamicsTrims_t *accelerationTrimsToUse);

src/main/sensors/sensors.h

@@ -17,6 +17,18 @@
 
 #pragma once
 
+
+typedef struct int16_flightDynamicsTrims_s {
+    int16_t roll;
+    int16_t pitch;
+    int16_t yaw;
+} flightDynamicsTrims_def_t;
+
+typedef union {
+    int16_t raw[3];
+    flightDynamicsTrims_def_t values;
+} flightDynamicsTrims_t;
+
 #define CALIBRATING_GYRO_CYCLES             1000
 #define CALIBRATING_ACC_CYCLES              400
 #define CALIBRATING_BARO_CYCLES             200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles

src/main/telemetry/smartport.c

@@ -27,18 +27,16 @@
 #include "drivers/adc.h"
 #include "drivers/light_led.h"
 
-#include "flight/flight.h"
-#include "flight/mixer.h"
-#include "flight/failsafe.h"
-#include "flight/navigation.h"
 #include "rx/rx.h"
 #include "rx/msp.h"
+
 #include "io/escservo.h"
 #include "io/rc_controls.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "io/serial.h"
 #include "io/ledstrip.h"
+
 #include "sensors/boardalignment.h"
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
@@ -47,6 +45,12 @@
 #include "sensors/compass.h"
 #include "sensors/gyro.h"
 
+#include "flight/flight.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/failsafe.h"
+#include "flight/navigation.h"
+
 #include "telemetry/telemetry.h"
 #include "telemetry/smartport.h"