Added servoConfig parameter group

Makefile

@@ -524,7 +524,6 @@ COMMON_SRC = \
             fc/rc_curves.c \
             fc/serial_cli.c \
             io/beeper.c \
-            io/motors.c \
             io/serial.c \
             io/serial_4way.c \
             io/serial_4way_avrootloader.c \

src/main/blackbox/blackbox.c

@@ -57,8 +57,6 @@
 #include "fc/runtime_config.h"
 
 #include "io/beeper.h"
-#include "io/motors.h"
-#include "io/servos.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"

src/main/blackbox/blackbox_io.c

@@ -52,8 +52,6 @@
 #include "sensors/battery.h"
 
 #include "io/beeper.h"
-#include "io/motors.h"
-#include "io/servos.h"
 #include "fc/rc_controls.h"
 
 #include "io/gimbal.h"

src/main/config/config_master.h

@@ -45,12 +45,9 @@
 #include "io/osd.h"
 #include "io/ledstrip.h"
 #include "io/serial.h"
-#include "io/servos.h"
 
 #include "telemetry/telemetry.h"
 
-#define servoConfig(x) (&masterConfig.servoConfig)
-#define servoConfigMutable(x) (&masterConfig.servoConfig)
 #define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
 #define servoMixerConfigMutable(x) (&masterConfig.servoMixerConfig)
 #define imuConfig(x) (&masterConfig.imuConfig)
@@ -94,7 +91,6 @@ typedef struct master_s {
 #endif
 
 #ifdef USE_SERVOS
-    servoConfig_t servoConfig;
     servoMixerConfig_t servoMixerConfig;
     servoMixer_t customServoMixer[MAX_SERVO_RULES];
 #endif

src/main/config/parameter_group_ids.h

@@ -62,6 +62,15 @@
 #define PG_RX_CHANNEL_RANGE_CONFIG 44
 //#define PG_MODE_COLOR_CONFIG 45
 //#define PG_SPECIAL_COLOR_CONFIG 46
+//#define PG_PILOT_CONFIG 47
+//#define PG_MSP_SERVER_CONFIG 48
+//#define PG_VOLTAGE_METER_CONFIG 49
+//#define PG_AMPERAGE_METER_CONFIG 50
+//#define PG_DEBUG_CONFIG 51
+#define PG_SERVO_CONFIG 52
+//#define PG_IBUS_TELEMETRY_CONFIG 53
+//#define PG_VTX_CONFIG 54
+
 
 // Driver configuration
 //#define PG_DRIVER_PWM_RX_CONFIG 100

src/main/fc/config.c

@@ -45,7 +45,6 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
@@ -228,14 +227,6 @@ void validateNavConfig(navConfig_t * navConfig)
 }
 #endif
 
-#ifdef USE_SERVOS
-void resetServoConfig(servoConfig_t *servoConfig)
-{
-    servoConfig->servoCenterPulse = 1500;
-    servoConfig->servoPwmRate = 50;
-}
-#endif
-
 #ifdef TELEMETRY
 void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
 {
@@ -411,7 +402,6 @@ void createDefaultConfig(master_t *config)
 
 #ifdef USE_SERVOS
     resetServoMixerConfig(&config->servoMixerConfig);
-    resetServoConfig(&config->servoConfig);
 #endif
 
 #ifdef GPS

src/main/fc/fc_init.c

@@ -77,8 +77,6 @@
 #include "io/serial.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
-#include "io/motors.h"
-#include "io/servos.h"
 #include "io/gimbal.h"
 #include "io/ledstrip.h"
 #include "io/dashboard.h"
@@ -118,6 +116,9 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 #include "config/feature.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+
 
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"

src/main/fc/fc_msp.c

@@ -66,10 +66,8 @@
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "io/ledstrip.h"
-#include "io/motors.h"
 #include "io/serial.h"
 #include "io/serial_4way.h"
-#include "io/servos.h"
 
 #include "msp/msp.h"
 #include "msp/msp_protocol.h"

src/main/fc/fc_tasks.c

@@ -48,8 +48,6 @@
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/osd.h"
-#include "io/motors.h"
-#include "io/servos.h"
 #include "io/pwmdriver_i2c.h"
 #include "io/serial.h"
 

src/main/fc/mw.c

@@ -53,11 +53,8 @@
 
 #include "io/beeper.h"
 #include "io/dashboard.h"
-#include "io/motors.h"
-#include "io/servos.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
-#include "io/motors.h"
 #include "io/serial.h"
 #include "io/statusindicator.h"
 #include "io/asyncfatfs/asyncfatfs.h"

src/main/fc/rc_controls.c

@@ -45,7 +45,6 @@
 
 #include "io/gps.h"
 #include "io/beeper.h"
-#include "io/motors.h"
 
 #include "rx/rx.h"
 

src/main/fc/rc_curves.c

@@ -23,7 +23,8 @@
 #include "rx/rx.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
-#include "io/motors.h"
+
+#include "flight/mixer.h"
 
 
 #define PITCH_LOOKUP_LENGTH 7

src/main/fc/serial_cli.c

@@ -83,10 +83,8 @@ uint8_t cliMode = 0;
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
-#include "io/motors.h"
 #include "io/osd.h"
 #include "io/serial.h"
-#include "io/servos.h"
 
 #include "rx/rx.h"
 #include "rx/spektrum.h"
@@ -618,6 +616,11 @@ static const clivalue_t valueTable[] = {
     { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, neutral3d) },
     { "3d_deadband_throttle",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_throttle) },
 
+#ifdef USE_SERVOS
+// PG_SERVO_CONFIG
+    { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_SERVO_CONFIG, offsetof(servoConfig_t, servoCenterPulse) },
+    { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50,  498 }, PG_SERVO_CONFIG, offsetof(servoConfig_t, servoPwmRate) },
+#endif
 };
 
 #else
@@ -773,8 +776,6 @@ const clivalue_t valueTable[] = {
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
     { "servo_lowpass_freq",         VAR_INT16  | MASTER_VALUE, &servoMixerConfig()->servo_lowpass_freq, .config.minmax = { 10,  400} },
     { "servo_lowpass_enable",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
-    { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
-    { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &servoConfig()->servoPwmRate, .config.minmax = { 50,  498 } },
     { "fw_iterm_throw_limit",       VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.fixedWingItermThrowLimit, .config.minmax = { FW_ITERM_THROW_LIMIT_MIN,  FW_ITERM_THROW_LIMIT_MAX} },
 #endif
 
@@ -1098,6 +1099,7 @@ static rxChannelRangeConfig_t rxChannelRangeConfigsCopy[NON_AUX_CHANNEL_COUNT];
 static motorConfig_t motorConfigCopy;
 static boardAlignment_t boardAlignmentCopy;
 #ifdef USE_SERVOS
+static servoConfig_t servoConfigCopy;
 static gimbalConfig_t gimbalConfigCopy;
 #endif
 static motorMixer_t customMotorMixerCopy[MAX_SUPPORTED_MOTORS];
@@ -1128,6 +1130,7 @@ static void backupConfigs(void)
     motorConfigCopy = *motorConfig();
     boardAlignmentCopy = *boardAlignment();
 #ifdef USE_SERVOS
+    servoConfigCopy = *servoConfig();
     gimbalConfigCopy = *gimbalConfig();
 #endif
     for (int ii = 0; ii < MAX_SUPPORTED_MOTORS; ++ii) {
@@ -1160,6 +1163,7 @@ static void restoreConfigs(void)
     *motorConfigMutable() = motorConfigCopy;
     *boardAlignmentMutable() = boardAlignmentCopy;
 #ifdef USE_SERVOS
+    *servoConfigMutable() = servoConfigCopy;
     *gimbalConfigMutable() = gimbalConfigCopy;
 #endif
     for (int ii = 0; ii < MAX_SUPPORTED_MOTORS; ++ii) {
@@ -1210,11 +1214,12 @@ static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *
         dumpPgValues(MASTER_VALUE, dumpMask, PG_RX_CONFIG, &rxConfigCopy, rxConfig());
         dumpPgValues(MASTER_VALUE, dumpMask, PG_MOTOR_CONFIG, &motorConfigCopy, motorConfig());
         dumpPgValues(MASTER_VALUE, dumpMask, PG_BOARD_ALIGNMENT, &boardAlignmentCopy, boardAlignment());
-#ifdef USE_SERVOS
-        dumpPgValues(MASTER_VALUE, dumpMask, PG_GIMBAL_CONFIG, &gimbalConfigCopy, gimbalConfig());
-#endif
         dumpPgValues(MASTER_VALUE, dumpMask, PG_MIXER_CONFIG, &mixerConfigCopy, mixerConfig());
         dumpPgValues(MASTER_VALUE, dumpMask, PG_MOTOR_3D_CONFIG, &flight3DConfigCopy, flight3DConfig());
+#ifdef USE_SERVOS
+        dumpPgValues(MASTER_VALUE, dumpMask, PG_SERVO_CONFIG, &servoConfigCopy, servoConfig());
+        dumpPgValues(MASTER_VALUE, dumpMask, PG_GIMBAL_CONFIG, &gimbalConfigCopy, gimbalConfig());
+#endif
         return;
     }
 #endif

src/main/flight/failsafe.c

@@ -32,7 +32,6 @@
 #include "drivers/system.h"
 
 #include "io/beeper.h"
-#include "io/motors.h"
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"

src/main/flight/mixer.c

@@ -37,9 +37,6 @@
 
 #include "rx/rx.h"
 
-#include "io/gimbal.h"
-#include "io/motors.h"
-
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"
 #include "sensors/gyro.h"
@@ -86,6 +83,26 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .yaw_jump_prevention_limit = 200
 );
 
+#ifdef BRUSHED_MOTORS
+#define DEFAULT_PWM_PROTOCOL    PWM_TYPE_BRUSHED
+#define DEFAULT_PWM_RATE        16000
+#define DEFAULT_MIN_THROTTLE    1000
+#else
+#define DEFAULT_PWM_PROTOCOL    PWM_TYPE_STANDARD
+#define DEFAULT_PWM_RATE        400
+#define DEFAULT_MIN_THROTTLE    1150
+#endif
+
+PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
+
+PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
+    .minthrottle = DEFAULT_MIN_THROTTLE,
+    .motorPwmProtocol = DEFAULT_PWM_PROTOCOL,
+    .motorPwmRate = DEFAULT_PWM_RATE,
+    .maxthrottle = 1850,
+    .mincommand = 1000
+);
+
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
 
 PG_REGISTER_ARR(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);

src/main/flight/mixer.h

@@ -108,6 +108,17 @@ typedef struct flight3DConfig_s {
 
 PG_DECLARE(flight3DConfig_t, flight3DConfig);
 
+typedef struct motorConfig_s {
+    // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
+    uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
+    uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
+    uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
+    uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
+    uint8_t  motorPwmProtocol;
+} motorConfig_t;
+
+PG_DECLARE(motorConfig_t, motorConfig);
+
 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
 
 extern int16_t motor[MAX_SUPPORTED_MOTORS];

src/main/flight/navigation_rewrite.h

@@ -21,7 +21,6 @@
 #include "common/filter.h"
 
 #include "fc/rc_controls.h"
-#include "io/motors.h"
 #include "io/gps.h"
 
 #include "flight/pid.h"
@@ -237,14 +236,15 @@ void navigationUsePIDs(const pidProfile_t *pidProfile);
 void navigationUseConfig(const navConfig_t *navConfigToUse);
 void navigationUseRcControlsConfig(const rcControlsConfig_t *initialRcControlsConfig);
 void navigationUseRxConfig(const rxConfig_t * initialRxConfig);
-void navigationUsemotorConfig(const motorConfig_t * initialmotorConfig);
+struct motorConfig_s;
+void navigationUsemotorConfig(const struct motorConfig_s * initialmotorConfig);
 void navigationUseFlight3DConfig(const flight3DConfig_t * initialFlight3DConfig);
 void navigationInit(const navConfig_t *initialnavConfig,
                     const pidProfile_t *initialPidProfile,
                     const rcControlsConfig_t *initialRcControlsConfig,
                     const rxConfig_t * initialRxConfig,
                     const flight3DConfig_t * initialFlight3DConfig,
-                    const motorConfig_t * initialmotorConfig);
+                    const struct motorConfig_s * initialmotorConfig);
 
 /* Navigation system updates */
 void updateWaypointsAndNavigationMode(void);

src/main/flight/navigation_rewrite_multicopter.c

@@ -36,8 +36,6 @@
 #include "sensors/acceleration.h"
 #include "sensors/boardalignment.h"
 
-#include "io/motors.h"
-
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"

src/main/flight/navigation_rewrite_private.h

@@ -246,7 +246,7 @@ typedef struct {
     navigationFSMState_t                onEvent[NAV_FSM_EVENT_COUNT];
 } navigationFSMStateDescriptor_t;
 
-
+struct motorConfig_s;
 typedef struct {
     /* Flags and navigation system state */
     navigationFSMState_t        navState;
@@ -291,7 +291,7 @@ typedef struct {
     const pidProfile_t *              pidProfile;
     const rxConfig_t *                rxConfig;
     const flight3DConfig_t *          flight3DConfig;
-    const motorConfig_t *             motorConfig;
+    const struct motorConfig_s *             motorConfig;
 } navigationPosControl_t;
 
 extern navigationPosControl_t posControl;

src/main/flight/pid.c

@@ -39,7 +39,6 @@
 #include "flight/navigation_rewrite.h"
 
 #include "io/gps.h"
-#include "io/motors.h"
 
 #include "rx/rx.h"
 

src/main/flight/servos.c

@@ -39,7 +39,6 @@
 #include "drivers/system.h"
 
 #include "io/gimbal.h"
-#include "io/servos.h"
 
 #include "rx/rx.h"
 
@@ -67,6 +66,13 @@ extern const mixer_t mixers[];
 
 servoMixerConfig_t *servoMixerConfig;
 
+PG_REGISTER_WITH_RESET_TEMPLATE(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 0);
+
+PG_RESET_TEMPLATE(servoConfig_t, servoConfig,
+    .servoCenterPulse = 1500,
+    .servoPwmRate = 50,
+);
+
 static uint8_t servoRuleCount = 0;
 static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
 int16_t servo[MAX_SUPPORTED_SERVOS];

src/main/flight/servos.h

@@ -107,6 +107,14 @@ typedef struct servoParam_s {
     uint32_t reversedSources;               // the direction of servo movement for each input source of the servo mixer, bit set=inverted
 } __attribute__ ((__packed__)) servoParam_t;
 
+typedef struct servoConfig_s {
+    // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
+    uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
+    uint16_t servoPwmRate;                  // The update rate of servo outputs (50-498Hz)
+} servoConfig_t;
+
+PG_DECLARE(servoConfig_t, servoConfig);
+
 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 
 bool isServoOutputEnabled(void);

src/main/io/ledstrip.c

@@ -55,8 +55,6 @@
 
 #include "io/ledstrip.h"
 #include "io/beeper.h"
-#include "io/motors.h"
-#include "io/servos.h"
 #include "io/gimbal.h"
 #include "io/serial.h"
 #include "io/gps.h"

src/main/io/motors.c

@@ -1,47 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdint.h>
-
-#include "platform.h"
-
-#include "config/parameter_group.h"
-#include "config/parameter_group_ids.h"
-
-#include "drivers/pwm_output.h"
-
-#include "io/motors.h"
-
-#ifdef BRUSHED_MOTORS
-#define DEFAULT_PWM_PROTOCOL    PWM_TYPE_BRUSHED
-#define DEFAULT_PWM_RATE        16000
-#define DEFAULT_MIN_THROTTLE    1000
-#else
-#define DEFAULT_PWM_PROTOCOL    PWM_TYPE_STANDARD
-#define DEFAULT_PWM_RATE        400
-#define DEFAULT_MIN_THROTTLE    1150
-#endif
-
-PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
-
-PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
-    .minthrottle = DEFAULT_MIN_THROTTLE,
-    .motorPwmProtocol = DEFAULT_PWM_PROTOCOL,
-    .motorPwmRate = DEFAULT_PWM_RATE,
-    .maxthrottle = 1850,
-    .mincommand = 1000
-);

src/main/io/motors.h

@@ -1,31 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#include "config/parameter_group.h"
-
-typedef struct motorConfig_s {
-    // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
-    uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
-    uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
-    uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
-    uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
-    uint8_t  motorPwmProtocol;
-} motorConfig_t;
-
-PG_DECLARE(motorConfig_t, motorConfig);

src/main/io/servos.h

@@ -1,24 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-typedef struct servoConfig_s {
-    // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
-    uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
-    uint16_t servoPwmRate;                  // The update rate of servo outputs (50-498Hz)
-} servoConfig_t;

src/main/target/COLIBRI/config.c

@@ -49,8 +49,6 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/motors.h"
-#include "io/servos.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 

src/main/target/COLIBRI_RACE/config.c

@@ -49,8 +49,6 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/motors.h"
-#include "io/servos.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 

src/main/telemetry/mavlink.c

@@ -44,8 +44,6 @@
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
-#include "io/motors.h"
-#include "io/servos.h"
 
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"