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

Relocate more code.
This commit is contained in:
Dominic Clifton 2015-02-01 00:39:38 +01:00
parent 8cc9e8ca37
commit 55cac2bdeb
32 changed files with 101 additions and 93 deletions

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@ -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 \

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@ -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"

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@ -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];

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@ -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"

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@ -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"

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@ -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"

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@ -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"

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@ -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"
#include "io/gps.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "flight/navigation.h"
extern int16_t magHold;
#ifdef GPS
@ -57,8 +57,6 @@ extern int16_t debug[4];
bool areSticksInApModePosition(uint16_t ap_mode);
int16_t magHold;
// **********************
// GPS
// **********************

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

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@ -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"

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

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@ -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 "config/runtime_config.h"
#include "flight/gps_conversion.h"
#include "flight/navigation.h"
#include "io/serial.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

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@ -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;

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@ -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"

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@ -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"

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@ -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"

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@ -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"

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@ -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

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

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@ -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"

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@ -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"

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@ -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"

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@ -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"

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@ -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"

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@ -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"

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@ -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"

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@ -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; }

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@ -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);

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@ -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"

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@ -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"

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@ -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"