From a853b6ced3bcea513dd4859d36c1c0cbe3ea310e Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris@th.id.au>
Date: Tue, 8 Oct 2024 07:59:01 +1100
Subject: [PATCH] Re-organise included files and functions thanks Karate

---
 mk/source.mk                       | 3 +--
 src/main/blackbox/blackbox.c       | 1 -
 src/main/cli/cli.c                 | 1 -
 src/main/cli/settings.c            | 3 ---
 src/main/cms/cms_menu_gps_rescue.c | 9 ++++-----
 src/main/fc/init.c                 | 2 +-
 src/main/flight/alt_hold.c         | 2 +-
 src/main/flight/autopilot.c        | 5 -----
 src/main/flight/autopilot.h        | 1 -
 src/main/flight/mixer.c            | 1 -
 src/main/flight/pid.c              | 1 -
 src/test/Makefile                  | 1 -
 12 files changed, 7 insertions(+), 23 deletions(-)

diff --git a/mk/source.mk b/mk/source.mk
index 4865927141..1db5ce3054 100644
--- a/mk/source.mk
+++ b/mk/source.mk
@@ -23,7 +23,6 @@ PG_SRC = \
             pg/msp.c \
             pg/pg.c \
             pg/piniobox.c \
-            pg/autopilot.c \
             pg/pinio.c \
             pg/pin_pull_up_down.c \
             pg/pos_hold.c \
@@ -163,8 +162,8 @@ COMMON_SRC = \
             fc/rc_controls.c \
             fc/rc_modes.c \
             flight/alt_hold.c \
-            flight/pos_hold.c \
             flight/autopilot.c \
+            flight/pos_hold.c \
             flight/dyn_notch_filter.c \
             flight/failsafe.c \
             flight/gps_rescue.c \
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index c43d531108..b6d526a61d 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -70,7 +70,6 @@
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
-#include "flight/autopilot.h"
 #include "flight/rpm_filter.h"
 #include "flight/servos.h"
 #include "flight/imu.h"
diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
index 299e266086..1dff695952 100644
--- a/src/main/cli/cli.c
+++ b/src/main/cli/cli.c
@@ -110,7 +110,6 @@ bool cliMode = false;
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
-#include "flight/autopilot.h"
 #include "flight/servos.h"
 
 #include "io/asyncfatfs/asyncfatfs.h"
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 95b3d4c104..c5746a068e 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -64,9 +64,6 @@
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
-#include "flight/autopilot.h"
-#include "flight/alt_hold.h"
-#include "flight/pos_hold.h"
 #include "flight/rpm_filter.h"
 #include "flight/servos.h"
 
diff --git a/src/main/cms/cms_menu_gps_rescue.c b/src/main/cms/cms_menu_gps_rescue.c
index 5cebc6c93a..c09e2e10c3 100644
--- a/src/main/cms/cms_menu_gps_rescue.c
+++ b/src/main/cms/cms_menu_gps_rescue.c
@@ -40,7 +40,6 @@
 #include "flight/autopilot.h"
 #include "flight/gps_rescue.h"
 #include "flight/position.h"
-#include "flight/autopilot.h"
 
 static uint16_t gpsRescueConfig_minStartDistM; //meters
 static uint8_t gpsRescueConfig_altitudeMode;
@@ -116,10 +115,10 @@ const OSD_Entry cms_menuGpsRescuePidEntries[] =
 {
     {"--- GPS RESCUE PID---", OME_Label, NULL, NULL},
 
-    { "ALTITUDE P",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_P, 0, 255, 1 } },
-    { "ALTITUDE I",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_I, 0, 255, 1 } },
-    { "ALTITUDE D",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_D, 0, 255, 1 } },
-    { "ALTITUDE F",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_F, 0, 255, 1 } },
+    { "ALTITUDE P",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_P, 0, 200, 1 } },
+    { "ALTITUDE I",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_I, 0, 200, 1 } },
+    { "ALTITUDE D",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_D, 0, 200, 1 } },
+    { "ALTITUDE F",        OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &autopilotConfig_altitude_F, 0, 200, 1 } },
 
     { "YAW P",             OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_yawP, 0, 200, 1 } },
 
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index a3fb4fd7e2..9e6eacca56 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -95,7 +95,6 @@
 #include "fc/tasks.h"
 
 #include "flight/alt_hold.h"
-#include "flight/pos_hold.h"
 #include "flight/autopilot.h"
 #include "flight/failsafe.h"
 #include "flight/imu.h"
@@ -104,6 +103,7 @@
 #include "flight/pid.h"
 #include "flight/pid_init.h"
 #include "flight/position.h"
+#include "flight/pos_hold.h"
 #include "flight/servos.h"
 
 #include "io/asyncfatfs/asyncfatfs.h"
diff --git a/src/main/flight/alt_hold.c b/src/main/flight/alt_hold.c
index 683f454380..2b3d1b3ebb 100644
--- a/src/main/flight/alt_hold.c
+++ b/src/main/flight/alt_hold.c
@@ -21,12 +21,12 @@
 #ifdef USE_ALT_HOLD_MODE
 
 #include "build/debug.h"
-
 #include "common/maths.h"
 #include "config/config.h"
 
 #include "fc/rc.h"
 #include "fc/runtime_config.h"
+
 #include "flight/autopilot.h"
 #include "flight/failsafe.h"
 #include "flight/position.h"
diff --git a/src/main/flight/autopilot.c b/src/main/flight/autopilot.c
index 7615a3f431..fe77e98e06 100644
--- a/src/main/flight/autopilot.c
+++ b/src/main/flight/autopilot.c
@@ -27,7 +27,6 @@
 #include "fc/rc.h"
 
 #include "flight/imu.h"
-#include "flight/pid.h"
 #include "flight/position.h"
 #include "rx/rx.h"
 
@@ -195,10 +194,6 @@ bool isBelowLandingAltitude(void)
     return getAltitudeCm() < 100.0f * autopilotConfig()->landing_altitude_m;
 }
 
-const pidCoefficient_t *getAltitudePidCoeffs(void)
-{
-    return &altitudePidCoeffs;
-
 float getAutopilotThrottle(void)
 {
     return throttleOut;
diff --git a/src/main/flight/autopilot.h b/src/main/flight/autopilot.h
index 726003b686..8daadd5442 100644
--- a/src/main/flight/autopilot.h
+++ b/src/main/flight/autopilot.h
@@ -30,7 +30,6 @@ void resetPositionControl(void);
 void altitudeControl(float targetAltitudeCm, float taskIntervalS, float verticalVelocity, float targetAltitudeStep);
 void positionControl(gpsLocation_t targetLocation, float deadband);
 
-
 bool isBelowLandingAltitude(void);
 const pidCoefficient_t *getAltitudePidCoeffs(void);
 float getAutopilotThrottle(void);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 81fa10278c..97d7e26e25 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -53,7 +53,6 @@
 #include "flight/mixer_init.h"
 #include "flight/mixer_tricopter.h"
 #include "flight/pid.h"
-#include "flight/autopilot.h"
 #include "flight/rpm_filter.h"
 
 #include "io/gps.h"
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 5f1dc46a81..6cc4a0c46f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -48,7 +48,6 @@
 
 #include "flight/alt_hold.h"
 #include "flight/autopilot.h"
-#include "flight/pos_hold.h"
 #include "flight/gps_rescue.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
diff --git a/src/test/Makefile b/src/test/Makefile
index 0d7b845353..7555a7b8e6 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -478,7 +478,6 @@ althold_unittest_SRC := \
 		$(USER_DIR)/flight/alt_hold.c \
 		$(USER_DIR)/flight/autopilot.c \
 		$(USER_DIR)/common/maths.c \
-		$(USER_DIR)/flight/autopilot.c \
 		$(USER_DIR)/pg/rx.c
 
 althold_unittest_DEFINES := \