From aa9d3e3ffea50cb21cdd7fd079b7084b9acc7ba0 Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris@th.id.au>
Date: Sun, 29 Sep 2024 21:42:34 +1000
Subject: [PATCH] autopilot naming, function sharing

---
 mk/source.mk                       | 1 +
 src/main/blackbox/blackbox.c       | 1 +
 src/main/cli/cli.c                 | 1 +
 src/main/cli/settings.c            | 2 ++
 src/main/cms/cms_menu_gps_rescue.c | 9 +++++----
 src/main/flight/alt_hold.c         | 3 +++
 src/main/flight/autopilot.c        | 6 +++++-
 src/main/flight/mixer.c            | 1 +
 src/test/Makefile                  | 1 +
 9 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/mk/source.mk b/mk/source.mk
index 9a74d5ca8a..4946810eec 100644
--- a/mk/source.mk
+++ b/mk/source.mk
@@ -23,6 +23,7 @@ PG_SRC = \
             pg/msp.c \
             pg/pg.c \
             pg/piniobox.c \
+            pg/autopilot.c \
             pg/pinio.c \
             pg/pin_pull_up_down.c \
             pg/rcdevice.c \
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index be6b0d4de4..ef9bf4e076 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -69,6 +69,7 @@
 #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 1dff695952..299e266086 100644
--- a/src/main/cli/cli.c
+++ b/src/main/cli/cli.c
@@ -110,6 +110,7 @@ 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 374553f93c..614e41f658 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -64,6 +64,8 @@
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
+#include "flight/autopilot.h"
+#include "flight/alt_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 c09e2e10c3..5cebc6c93a 100644
--- a/src/main/cms/cms_menu_gps_rescue.c
+++ b/src/main/cms/cms_menu_gps_rescue.c
@@ -40,6 +40,7 @@
 #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;
@@ -115,10 +116,10 @@ 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, 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 } },
+    { "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 } },
 
     { "YAW P",             OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t){ &gpsRescueConfig_yawP, 0, 200, 1 } },
 
diff --git a/src/main/flight/alt_hold.c b/src/main/flight/alt_hold.c
index 72aeace87e..51e3ecd651 100644
--- a/src/main/flight/alt_hold.c
+++ b/src/main/flight/alt_hold.c
@@ -21,13 +21,16 @@
 #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"
+
 #include "rx/rx.h"
 
 #include "alt_hold.h"
diff --git a/src/main/flight/autopilot.c b/src/main/flight/autopilot.c
index 41eae8b90b..a1f704425b 100644
--- a/src/main/flight/autopilot.c
+++ b/src/main/flight/autopilot.c
@@ -23,7 +23,6 @@
 #include "platform.h"
 #include "build/debug.h"
 #include "common/maths.h"
-
 #include "flight/imu.h"
 #include "flight/pid.h"
 #include "flight/position.h"
@@ -48,6 +47,11 @@ void autopilotInit(const autopilotConfig_t *config)
     altitudePidCoeffs.Kf = config->altitude_F * ALTITUDE_F_SCALE;
 }
 
+const pidCoefficient_t *getAltitudePidCoeffs(void)
+{
+    return &altitudePidCoeffs;
+}
+
 void resetAltitudeControl (void) {
     altitudeI = 0.0f;
 }
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 1f4a3556be..88eb83ddb6 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -53,6 +53,7 @@
 #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/test/Makefile b/src/test/Makefile
index 7555a7b8e6..0d7b845353 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -478,6 +478,7 @@ 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 := \