Finally rename flight.c/.h to pid.c/.h. Cleanup some dependencies.

Relocate more code.

Makefile

@@ -203,7 +203,7 @@ COMMON_SRC	 = build_config.c \
 		   mw.c \
 		   flight/altitudehold.c \
 		   flight/failsafe.c \
-		   flight/flight.c \
+		   flight/pid.c \
 		   flight/imu.c \
 		   flight/mixer.c \
 		   drivers/bus_i2c_soft.c \

src/main/config/config.c

@@ -58,14 +58,15 @@
 #include "telemetry/telemetry.h"
 
 #include "flight/mixer.h"
-#include "flight/flight.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
 #include "flight/failsafe.h"
 #include "flight/altitudehold.h"
-#include "flight/imu.h"
 #include "flight/navigation.h"
 
 #include "config/runtime_config.h"
 #include "config/config.h"
+
 #include "config/config_profile.h"
 #include "config/config_master.h"
 

src/main/flight/altitudehold.c

@@ -35,14 +35,15 @@
 #include "sensors/barometer.h"
 #include "sensors/sonar.h"
 
-#include "flight/mixer.h"
-#include "flight/flight.h"
-#include "flight/imu.h"
-
 #include "rx/rx.h"
+
 #include "io/rc_controls.h"
 #include "io/escservo.h"
 
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+
 #include "config/runtime_config.h"
 
 extern int16_t debug[4];

src/main/flight/altitudehold.h

@@ -15,10 +15,9 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "flight/flight.h"
-
 #include "io/escservo.h"
 #include "io/rc_controls.h"
+#include "flight/pid.h"
 
 #include "sensors/barometer.h"
 

src/main/flight/autotune.c

@@ -34,7 +34,7 @@
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"
 
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 
 #include "config/config.h"

src/main/flight/imu.c

@@ -40,7 +40,7 @@
 #include "sensors/sonar.h"
 
 #include "flight/mixer.h"
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 
 #include "config/runtime_config.h"

src/main/flight/mixer.c

@@ -43,7 +43,7 @@
 #include "sensors/acceleration.h"
 
 #include "flight/mixer.h"
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 
 #include "config/runtime_config.h"

src/main/flight/navigation.c

@@ -25,31 +25,31 @@
 #include "platform.h"
 
 #include "common/maths.h"
+#include "common/axis.h"
 
 #include "drivers/system.h"
-
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
-#include "io/serial.h"
-
 #include "drivers/gpio.h"
 #include "drivers/light_led.h"
 
-#include "common/axis.h"
-#include "flight/flight.h"
-
 #include "sensors/sensors.h"
 
+#include "io/serial.h"
+#include "io/gps.h"
+#include "io/rc_controls.h"
+
+#include "flight/pid.h"
+#include "flight/navigation.h"
+#include "flight/gps_conversion.h"
+
+#include "rx/rx.h"
+
+
 #include "config/config.h"
 #include "config/runtime_config.h"
 
-#include "flight/gps_conversion.h"
+extern int16_t magHold;
-#include "io/gps.h"
-
-#include "rx/rx.h"
-#include "io/rc_controls.h"
-
-#include "flight/navigation.h"
 
 #ifdef GPS
 
@@ -57,8 +57,6 @@ extern int16_t debug[4];
 
 bool areSticksInApModePosition(uint16_t ap_mode);
 
-int16_t magHold;
-
 // **********************
 // GPS
 // **********************

src/main/flight/navigation.h

@@ -17,8 +17,6 @@
 
 #pragma once
 
-extern int16_t magHold;
-
 // navigation mode
 typedef enum {
     NAV_MODE_NONE = 0,

src/main/flight/pid.c

@@ -38,7 +38,7 @@
 #include "io/rc_controls.h"
 #include "io/gps.h"
 
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/navigation.h"
 #include "flight/autotune.h"

src/main/io/display.c

@@ -48,7 +48,7 @@
 
 #include "io/rc_controls.h"
 
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 
 #ifdef GPS

src/main/io/gps.c

@@ -27,30 +27,26 @@
 #include "build_config.h"
 
 #include "common/maths.h"
+#include "common/axis.h"
 
 #include "drivers/system.h"
-
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
-#include "io/serial.h"
-
 #include "drivers/gpio.h"
 #include "drivers/light_led.h"
 
-#include "common/axis.h"
-#include "flight/flight.h"
-
 #include "sensors/sensors.h"
 
-#include "config/config.h"
+#include "io/serial.h"
-#include "config/runtime_config.h"
-
-#include "flight/gps_conversion.h"
-#include "flight/navigation.h"
-
 #include "io/display.h"
 #include "io/gps.h"
 
+#include "flight/gps_conversion.h"
+#include "flight/pid.h"
+#include "flight/navigation.h"
+
+#include "config/config.h"
+#include "config/runtime_config.h"
 
 
 #ifdef GPS

src/main/io/ledstrip.c

@@ -28,24 +28,26 @@
 #ifdef LED_STRIP
 
 #include <common/color.h>
+#include <common/maths.h>
+#include <common/typeconversion.h>
 
 #include "drivers/light_ws2811strip.h"
 #include "drivers/system.h"
 #include "drivers/serial.h"
 
-#include <common/maths.h>
 #include <common/printf.h>
-#include <common/typeconversion.h>
 
 #include "sensors/battery.h"
 
-#include "config/runtime_config.h"
-#include "config/config.h"
-#include "rx/rx.h"
 #include "io/rc_controls.h"
+#include "io/ledstrip.h"
+
+#include "rx/rx.h"
+
 #include "flight/failsafe.h"
 
-#include "io/ledstrip.h"
+#include "config/runtime_config.h"
+#include "config/config.h"
 
 static bool ledStripInitialised = false;
 static bool ledStripEnabled = true;

src/main/io/rc_controls.c

@@ -30,7 +30,6 @@
 #include "config/runtime_config.h"
 
 #include "drivers/system.h"
-
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 
@@ -40,15 +39,15 @@
 #include "sensors/gyro.h"
 #include "sensors/acceleration.h"
 
+#include "rx/rx.h"
+
 #include "io/gps.h"
 #include "io/beeper.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/pid.h"
 #include "flight/navigation.h"
 
 #include "mw.h"

src/main/io/serial_cli.c

@@ -64,7 +64,7 @@
 #include "sensors/compass.h"
 #include "sensors/barometer.h"
 
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/navigation.h"

src/main/io/serial_msp.c

@@ -62,13 +62,15 @@
 #include "sensors/compass.h"
 #include "sensors/gyro.h"
 
-#include "flight/flight.h"
-#include "flight/imu.h"
 #include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
 #include "flight/failsafe.h"
 #include "flight/navigation.h"
 #include "flight/altitudehold.h"
 
+#include "mw.h"
+
 #include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"

src/main/main.c

@@ -69,7 +69,7 @@
 #include "telemetry/telemetry.h"
 #include "blackbox/blackbox.h"
 
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/failsafe.h"

src/main/mw.c

@@ -66,10 +66,10 @@
 #include "blackbox/blackbox.h"
 
 #include "flight/mixer.h"
-#include "flight/flight.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
 #include "flight/altitudehold.h"
 #include "flight/failsafe.h"
-#include "flight/imu.h"
 #include "flight/autotune.h"
 #include "flight/navigation.h"
 
@@ -94,6 +94,8 @@ int16_t debug[4];
 uint32_t currentTime = 0;
 uint32_t previousTime = 0;
 uint16_t cycleTime = 0;         // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
+
+int16_t magHold;
 int16_t headFreeModeHold;
 
 int16_t telemTemperature1;      // gyro sensor temperature

src/main/mw.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+extern int16_t magHold;
+
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta);
 void handleInflightCalibrationStickPosition();
 

src/main/sensors/compass.c

@@ -28,7 +28,6 @@
 #include "drivers/gpio.h"
 #include "drivers/light_led.h"
 
-#include "flight/flight.h"
 #include "sensors/boardalignment.h"
 #include "config/runtime_config.h"
 #include "config/config.h"

src/main/sensors/gyro.c

@@ -25,7 +25,6 @@
 
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
-#include "flight/flight.h"
 #include "sensors/sensors.h"
 #include "io/statusindicator.h"
 #include "sensors/boardalignment.h"

src/main/sensors/initialisation.c

@@ -52,7 +52,6 @@
 #include "drivers/gpio.h"
 #include "drivers/system.h"
 
-#include "flight/flight.h"
 #include "config/runtime_config.h"
 
 #include "sensors/sensors.h"

src/main/sensors/sonar.c

@@ -28,8 +28,6 @@
 #include "config/runtime_config.h"
 #include "config/config.h"
 
-#include "flight/flight.h"
-
 #include "sensors/sensors.h"
 #include "sensors/sonar.h"
 

src/main/telemetry/frsky.c

@@ -51,7 +51,7 @@
 #include "rx/rx.h"
 
 #include "flight/mixer.h"
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/altitudehold.h"
 

src/main/telemetry/hott.c

@@ -74,7 +74,7 @@
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
 
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/navigation.h"
 #include "io/gps.h"
 

src/main/telemetry/smartport.c

@@ -45,7 +45,7 @@
 #include "sensors/compass.h"
 #include "sensors/gyro.h"
 
-#include "flight/flight.h"
+#include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/failsafe.h"

src/test/unit/altitude_hold_unittest.cc

@@ -24,25 +24,27 @@
 
 extern "C" {
     #include "common/axis.h"
-    #include "flight/flight.h"
+    #include "common/maths.h"
 
-    #include "sensors/sensors.h"
     #include "drivers/sensor.h"
     #include "drivers/accgyro.h"
+
+    #include "sensors/sensors.h"
     #include "sensors/acceleration.h"
     #include "sensors/barometer.h"
 
-    #include "flight/mixer.h"
-    #include "flight/mixer.h"
-
     #include "io/escservo.h"
-    #include "rx/rx.h"
     #include "io/rc_controls.h"
 
-    #include "config/runtime_config.h"
+    #include "rx/rx.h"
 
+    #include "flight/mixer.h"
+    #include "flight/pid.h"
+    #include "flight/imu.h"
     #include "flight/altitudehold.h"
 
+    #include "config/runtime_config.h"
+
 }
 
 #include "unittest_macros.h"
@@ -148,7 +150,7 @@ uint8_t armingFlags;
 int32_t sonarAlt;
 
 
-void gyroGetADC(void) {};
+void gyroUpdate(void) {};
 bool sensors(uint32_t mask)
 {
     UNUSED(mask);
@@ -159,7 +161,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
     UNUSED(rollAndPitchTrims);
 }
 
-void accSum_reset(void) {};
+void imuResetAccelerationSum(void) {};
 
 int32_t applyDeadband(int32_t, int32_t) { return 0; }
 uint32_t micros(void) { return 0; }

src/test/unit/flight_imu_unittest.cc

@@ -25,7 +25,6 @@
 extern "C" {
     #include "common/axis.h"
     #include "common/maths.h"
-    #include "flight/flight.h"
 
     #include "sensors/sensors.h"
     #include "drivers/sensor.h"
@@ -39,6 +38,7 @@ extern "C" {
     #include "config/runtime_config.h"
 
     #include "flight/mixer.h"
+    #include "flight/pid.h"
     #include "flight/imu.h"
 }
 
@@ -53,19 +53,19 @@ TEST(FlightImuTest, TestCalculateHeading)
 {
     //TODO: Add test cases using the Z dimension.
     t_fp_vector north = {.A={1.0f, 0.0f, 0.0f}};
-    EXPECT_EQ(calculateHeading(&north), 0);
+    EXPECT_EQ(imuCalculateHeading(&north), 0);
 
     t_fp_vector east = {.A={0.0f, 1.0f, 0.0f}};
-    EXPECT_EQ(calculateHeading(&east), 90);
+    EXPECT_EQ(imuCalculateHeading(&east), 90);
 
     t_fp_vector south = {.A={-1.0f, 0.0f, 0.0f}};
-    EXPECT_EQ(calculateHeading(&south), 180);
+    EXPECT_EQ(imuCalculateHeading(&south), 180);
 
     t_fp_vector west = {.A={0.0f, -1.0f, 0.0f}};
-    EXPECT_EQ(calculateHeading(&west), 270);
+    EXPECT_EQ(imuCalculateHeading(&west), 270);
 
     t_fp_vector north_east = {.A={1.0f, 1.0f, 0.0f}};
-    EXPECT_EQ(calculateHeading(&north_east), 45);
+    EXPECT_EQ(imuCalculateHeading(&north_east), 45);
 }
 
 // STUBS
@@ -86,9 +86,12 @@ uint16_t flightModeFlags;
 uint8_t armingFlags;
 
 int32_t sonarAlt;
+int16_t accADC[XYZ_AXIS_COUNT];
+int16_t gyroADC[XYZ_AXIS_COUNT];
 
 
-void gyroGetADC(void) {};
+
+void gyroUpdate(void) {};
 bool sensors(uint32_t mask)
 {
     UNUSED(mask);

src/test/unit/ledstrip_unittest.cc

@@ -24,7 +24,6 @@ extern "C" {
 
     #include "common/color.h"
     #include "common/axis.h"
-    #include "flight/flight.h"
 
     #include "sensors/battery.h"
     #include "config/runtime_config.h"

src/test/unit/rc_controls_unittest.cc

@@ -20,14 +20,24 @@
 
 extern "C" {
     #include "platform.h"
+
     #include "common/maths.h"
     #include "common/axis.h"
-    #include "flight/flight.h"
 
-    #include "rx/rx.h"
+    #include "drivers/sensor.h"
+    #include "drivers/accgyro.h"
+
+    #include "sensors/sensors.h"
+    #include "sensors/acceleration.h"
+
     #include "io/escservo.h"
     #include "io/rc_controls.h"
+
+    #include "rx/rx.h"
+
+    #include "flight/pid.h"
 }
+
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
 

src/test/unit/telemetry_hott_unittest.cc

@@ -27,22 +27,21 @@ extern "C" {
     #include "common/axis.h"
 
     #include "drivers/system.h"
-
     #include "drivers/serial.h"
-    #include "io/serial.h"
-
-    #include "config/runtime_config.h"
 
     #include "sensors/sensors.h"
-
-    #include "flight/flight.h"
-    #include "io/gps.h"
     #include "sensors/battery.h"
 
+    #include "io/serial.h"
+    #include "io/gps.h"
+
     #include "telemetry/telemetry.h"
     #include "telemetry/hott.h"
 
+    #include "flight/pid.h"
     #include "flight/gps_conversion.h"
+
+    #include "config/runtime_config.h"
 }
 
 #include "unittest_macros.h"