Replaced config pointers with config PG macros. Tidied #includes

src/main/cms/cms.c

@@ -58,6 +58,8 @@
 #include "config/config_master.h"
 #include "config/feature.h"
 
+#include "rx/rx.h"
+
 // For VISIBLE* (Actually, included by config_master.h)
 #include "io/osd.h"
 

src/main/cms/cms_menu_imu.c

@@ -208,7 +208,7 @@ static long cmsx_menuPidAltMag_onExit(const OSD_Entry *self)
     cmsx_WritebackPidFromArray(cmsx_pidVel, PIDVEL);
     pidProfileMutable()->P8[PIDMAG] = cmsx_pidMag[0];
 
-    navigationUsePIDs(pidProfile());
+    navigationUsePIDs();
 
     return 0;
 }
@@ -258,7 +258,7 @@ static long cmsx_menuPidGpsnav_onExit(const OSD_Entry *self)
     cmsx_WritebackPidFromArray(cmsx_pidPosR, PIDPOSR);
     cmsx_WritebackPidFromArray(cmsx_pidNavR, PIDNAVR);
 
-    navigationUsePIDs(pidProfile());
+    navigationUsePIDs();
 
     return 0;
 }

src/main/cms/cms_menu_misc.c

@@ -44,6 +44,8 @@
 #include "cms/cms_types.h"
 #include "cms/cms_menu_ledstrip.h"
 
+#include "rx/rx.h"
+
 //
 // Misc
 //

src/main/fc/config.c

@@ -393,11 +393,7 @@ static void activateConfig(void)
     pidInit();
 
 #ifdef NAV
-    navigationUsePIDs(pidProfile());
+    navigationUsePIDs();
-    navigationUseRcControlsConfig(rcControlsConfig());
-    navigationUseRxConfig(rxConfig());
-    navigationUseFlight3DConfig(flight3DConfig());
-    navigationUsemotorConfig(motorConfig());
 #endif
 }
 

src/main/fc/fc_init.c

@@ -527,13 +527,7 @@ void init(void)
 #endif
 
 #ifdef NAV
-    navigationInit(
+    navigationInit();
-        &currentProfile->pidProfile,
-        rcControlsConfig(),
-        rxConfig(),
-        flight3DConfig(),
-        motorConfig()
-    );
 #endif
 
 #ifdef LED_STRIP

src/main/fc/fc_msp.c

@@ -1300,7 +1300,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         }
         schedulePidGainsUpdate();
 #if defined(NAV)
-        navigationUsePIDs(&currentProfile->pidProfile);
+        navigationUsePIDs();
 #endif
         break;
 

src/main/flight/navigation_rewrite.c

@@ -47,6 +47,7 @@
 #include "flight/navigation_rewrite_private.h"
 
 #include "fc/config.h"
+#include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
 /*-----------------------------------------------------------
@@ -2536,51 +2537,29 @@ void updateWaypointsAndNavigationMode(void)
 /*-----------------------------------------------------------
  * NAV main control functions
  *-----------------------------------------------------------*/
-void navigationUseRcControlsConfig(const rcControlsConfig_t *initialRcControlsConfig)
+void navigationUsePIDs(void)
 {
-    posControl.rcControlsConfig = initialRcControlsConfig;
-}
-
-void navigationUseFlight3DConfig(const flight3DConfig_t * initialFlight3DConfig)
-{
-    posControl.flight3DConfig = initialFlight3DConfig;
-}
-
-void navigationUseRxConfig(const rxConfig_t * initialRxConfig)
-{
-    posControl.rxConfig = initialRxConfig;
-}
-
-void navigationUsemotorConfig(const motorConfig_t * initialmotorConfig)
-{
-    posControl.motorConfig = initialmotorConfig;
-}
-
-void navigationUsePIDs(const pidProfile_t *initialPidProfile)
-{
-    posControl.pidProfile = initialPidProfile;
-
     // Brake time parameter
-    posControl.posDecelerationTime = (float)posControl.pidProfile->I8[PIDPOS] / 100.0f;
+    posControl.posDecelerationTime = (float)pidProfile()->I8[PIDPOS] / 100.0f;
 
     // Position controller expo (taret vel expo for MC)
-    posControl.posResponseExpo = constrainf((float)posControl.pidProfile->D8[PIDPOS] / 100.0f, 0.0f, 1.0f);
+    posControl.posResponseExpo = constrainf((float)pidProfile()->D8[PIDPOS] / 100.0f, 0.0f, 1.0f);
 
     // Initialize position hold P-controller
     for (int axis = 0; axis < 2; axis++) {
-        navPInit(&posControl.pids.pos[axis], (float)posControl.pidProfile->P8[PIDPOS] / 100.0f);
+        navPInit(&posControl.pids.pos[axis], (float)pidProfile()->P8[PIDPOS] / 100.0f);
 
-        navPidInit(&posControl.pids.vel[axis], (float)posControl.pidProfile->P8[PIDPOSR] / 100.0f,
+        navPidInit(&posControl.pids.vel[axis], (float)pidProfile()->P8[PIDPOSR] / 100.0f,
-                                               (float)posControl.pidProfile->I8[PIDPOSR] / 100.0f,
+                                               (float)pidProfile()->I8[PIDPOSR] / 100.0f,
-                                               (float)posControl.pidProfile->D8[PIDPOSR] / 100.0f);
+                                               (float)pidProfile()->D8[PIDPOSR] / 100.0f);
     }
 
     // Initialize altitude hold PID-controllers (pos_z, vel_z, acc_z
-    navPInit(&posControl.pids.pos[Z], (float)posControl.pidProfile->P8[PIDALT] / 100.0f);
+    navPInit(&posControl.pids.pos[Z], (float)pidProfile()->P8[PIDALT] / 100.0f);
 
-    navPidInit(&posControl.pids.vel[Z], (float)posControl.pidProfile->P8[PIDVEL] / 100.0f,
+    navPidInit(&posControl.pids.vel[Z], (float)pidProfile()->P8[PIDVEL] / 100.0f,
-                                        (float)posControl.pidProfile->I8[PIDVEL] / 100.0f,
+                                        (float)pidProfile()->I8[PIDVEL] / 100.0f,
-                                        (float)posControl.pidProfile->D8[PIDVEL] / 100.0f);
+                                        (float)pidProfile()->D8[PIDVEL] / 100.0f);
 
     // Initialize surface tracking PID
     navPidInit(&posControl.pids.surface, 2.0f,
@@ -2588,21 +2567,16 @@ void navigationUsePIDs(const pidProfile_t *initialPidProfile)
                                          0.0f);
 
     // Initialize fixed wing PID controllers
-    navPidInit(&posControl.pids.fw_nav, (float)posControl.pidProfile->P8[PIDNAVR] / 100.0f,
+    navPidInit(&posControl.pids.fw_nav, (float)pidProfile()->P8[PIDNAVR] / 100.0f,
-                                        (float)posControl.pidProfile->I8[PIDNAVR] / 100.0f,
+                                        (float)pidProfile()->I8[PIDNAVR] / 100.0f,
-                                        (float)posControl.pidProfile->D8[PIDNAVR] / 100.0f);
+                                        (float)pidProfile()->D8[PIDNAVR] / 100.0f);
 
-    navPidInit(&posControl.pids.fw_alt, (float)posControl.pidProfile->P8[PIDALT] / 100.0f,
+    navPidInit(&posControl.pids.fw_alt, (float)pidProfile()->P8[PIDALT] / 100.0f,
-                                        (float)posControl.pidProfile->I8[PIDALT] / 100.0f,
+                                        (float)pidProfile()->I8[PIDALT] / 100.0f,
-                                        (float)posControl.pidProfile->D8[PIDALT] / 100.0f);
+                                        (float)pidProfile()->D8[PIDALT] / 100.0f);
 }
 
-void navigationInit(
+void navigationInit(void)
-                    const pidProfile_t *initialPidProfile,
-                    const rcControlsConfig_t *initialRcControlsConfig,
-                    const rxConfig_t * initialRxConfig,
-                    const flight3DConfig_t * initialFlight3DConfig,
-                    const motorConfig_t * initialmotorConfig)
 {
     /* Initial state */
     posControl.navState = NAV_STATE_IDLE;
@@ -2628,11 +2602,7 @@ void navigationInit(
     posControl.actualState.surfaceMin = -1.0f;
 
     /* Use system config */
-    navigationUsePIDs(initialPidProfile);
+    navigationUsePIDs();
-    navigationUseRcControlsConfig(initialRcControlsConfig);
-    navigationUseRxConfig(initialRxConfig);
-    navigationUsemotorConfig(initialmotorConfig);
-    navigationUseFlight3DConfig(initialFlight3DConfig);
 }
 
 /*-----------------------------------------------------------

src/main/flight/navigation_rewrite.h

@@ -18,16 +18,10 @@
 #pragma once
 
 #include "common/maths.h"
-#include "common/filter.h"
 
-#include "fc/rc_controls.h"
-#include "io/gps.h"
-
-#include "flight/pid.h"
 #include "flight/failsafe.h"
-#include "flight/mixer.h"
 
-#include "rx/rx.h"
+#include "io/gps.h"
 
 /* GPS Home location data */
 extern gpsLocation_t        GPS_home;
@@ -235,18 +229,8 @@ typedef struct {
     navWaypointActions_e    activeWpAction;
 } navSystemStatus_t;
 
-void navigationUsePIDs(const pidProfile_t *pidProfile);
+void navigationUsePIDs(void);
-void navigationUseRcControlsConfig(const rcControlsConfig_t *initialRcControlsConfig);
+void navigationInit(void);
-void navigationUseRxConfig(const rxConfig_t * initialRxConfig);
-struct motorConfig_s;
-void navigationUsemotorConfig(const struct motorConfig_s * initialmotorConfig);
-void navigationUseFlight3DConfig(const flight3DConfig_t * initialFlight3DConfig);
-void navigationInit(
-                    const pidProfile_t *initialPidProfile,
-                    const rcControlsConfig_t *initialRcControlsConfig,
-                    const rxConfig_t * initialRxConfig,
-                    const flight3DConfig_t * initialFlight3DConfig,
-                    const struct motorConfig_s * initialmotorConfig);
 
 /* Navigation system updates */
 void updateWaypointsAndNavigationMode(void);

src/main/flight/navigation_rewrite_fixedwing.c

@@ -38,11 +38,13 @@
 
 #include "flight/pid.h"
 #include "flight/imu.h"
+#include "flight/mixer.h"
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
+#include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
 // If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
@@ -75,11 +77,11 @@ void resetFixedWingAltitudeController()
 
 bool adjustFixedWingAltitudeFromRCInput(void)
 {
-    int16_t rcAdjustment = applyDeadband(rcCommand[PITCH], posControl.rcControlsConfig->alt_hold_deadband);
+    int16_t rcAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->alt_hold_deadband);
 
     if (rcAdjustment) {
         // set velocity proportional to stick movement
-        float rcClimbRate = -rcAdjustment * navConfig()->general.max_manual_climb_rate / (500.0f - posControl.rcControlsConfig->alt_hold_deadband);
+        float rcClimbRate = -rcAdjustment * navConfig()->general.max_manual_climb_rate / (500.0f - rcControlsConfig()->alt_hold_deadband);
         updateAltitudeTargetFromClimbRate(rcClimbRate, CLIMB_RATE_RESET_SURFACE_TARGET);
         return true;
     }
@@ -223,7 +225,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
 
     // Shift position according to pilot's ROLL input (up to max_manual_speed velocity)
     if (posControl.flags.isAdjustingPosition) {
-        int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], posControl.rcControlsConfig->pos_hold_deadband);
+        int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
 
         if (rcRollAdjustment) {
             float rcShiftY = rcRollAdjustment * navConfig()->general.max_manual_speed / 500.0f * trackingPeriod;
@@ -239,7 +241,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
 
 bool adjustFixedWingPositionFromRCInput(void)
 {
-    int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], posControl.rcControlsConfig->pos_hold_deadband);
+    int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
     return (rcRollAdjustment);
 }
 
@@ -415,12 +417,12 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
     if (isPitchAdjustmentValid && (navStateFlags & NAV_CTL_ALT)) {
         // PITCH angle is measured in opposite direction ( >0 - dive, <0 - climb)
         pitchCorrection = constrain(pitchCorrection, -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
-        rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, posControl.pidProfile->max_angle_inclination[FD_PITCH]);
+        rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
     }
 
     if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) {
         rollCorrection = constrain(rollCorrection, -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_bank_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_bank_angle));
-        rcCommand[ROLL] = pidAngleToRcCommand(rollCorrection, posControl.pidProfile->max_angle_inclination[FD_ROLL]);
+        rcCommand[ROLL] = pidAngleToRcCommand(rollCorrection, pidProfile()->max_angle_inclination[FD_ROLL]);
 
         // Calculate coordinated turn rate based on velocity and banking angle
         if (posControl.actualState.velXY >= 300.0f) {
@@ -434,7 +436,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
 
     if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)) {
         uint16_t correctedThrottleValue = constrain(navConfig()->fw.cruise_throttle + throttleCorrection, navConfig()->fw.min_throttle, navConfig()->fw.max_throttle);
-        rcCommand[THROTTLE] = constrain(correctedThrottleValue, posControl.motorConfig->minthrottle, posControl.motorConfig->maxthrottle);
+        rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle);
     }
 }
 
@@ -465,8 +467,8 @@ bool isFixedWingLandingDetected(void)
 void applyFixedWingEmergencyLandingController(void)
 {
     // FIXME: Make this configurable, use altitude controller if available (similar to MC code)
-    rcCommand[PITCH] = pidAngleToRcCommand(-FW_EMERGENCY_DIVE_DECIDEG, posControl.pidProfile->max_angle_inclination[FD_PITCH]);
+    rcCommand[PITCH] = pidAngleToRcCommand(-FW_EMERGENCY_DIVE_DECIDEG, pidProfile()->max_angle_inclination[FD_PITCH]);
-    rcCommand[ROLL] = pidAngleToRcCommand(-FW_EMERGENCY_ROLL_DECIDEG, posControl.pidProfile->max_angle_inclination[FD_ROLL]);
+    rcCommand[ROLL] = pidAngleToRcCommand(-FW_EMERGENCY_ROLL_DECIDEG, pidProfile()->max_angle_inclination[FD_ROLL]);
     rcCommand[YAW] = pidRateToRcCommand(-FW_EMERGENCY_YAW_RATE_DPS, currentControlRateProfile->rates[FD_YAW]);
     rcCommand[THROTTLE] = navConfig()->fw.min_throttle;
 }

src/main/flight/navigation_rewrite_fw_launch.c

@@ -46,10 +46,12 @@
 
 #include "flight/pid.h"
 #include "flight/imu.h"
+#include "flight/mixer.h"
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
 
 #include "fc/config.h"
+#include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
 #include "config/feature.h"
@@ -128,7 +130,7 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
         const float timeElapsedSinceLaunchMs = US2MS(currentTimeUs- launchState.launchStartedTime);
 
         // If user moves the stick - finish the launch
-        if ((ABS(rcCommand[ROLL]) > posControl.rcControlsConfig->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > posControl.rcControlsConfig->pos_hold_deadband)) {
+        if ((ABS(rcCommand[ROLL]) > rcControlsConfig()->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > rcControlsConfig()->pos_hold_deadband)) {
             launchState.launchFinished = true;
         }
 
@@ -149,7 +151,7 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
 
                 // Throttle control logic
                 ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);                       // If MOTOR_STOP is enabled mixer will keep motor stopped
-                rcCommand[THROTTLE] = posControl.motorConfig->minthrottle;  // If MOTOR_STOP is disabled, motors will spin at minthrottle
+                rcCommand[THROTTLE] = motorConfig()->minthrottle;  // If MOTOR_STOP is disabled, motors will spin at minthrottle
             }
         }
     }
@@ -162,7 +164,7 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
 
         // Throttle control logic
         ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);                       // If MOTOR_STOP is enabled mixer will keep motor stopped
-        rcCommand[THROTTLE] = posControl.motorConfig->minthrottle;  // If MOTOR_STOP is disabled, motors will spin at minthrottle
+        rcCommand[THROTTLE] = motorConfig()->minthrottle;  // If MOTOR_STOP is disabled, motors will spin at minthrottle
     }
 
     // Control beeper
@@ -172,7 +174,7 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
 
     // Lock out controls
     rcCommand[ROLL] = 0;
-    rcCommand[PITCH] = pidAngleToRcCommand(-DEGREES_TO_DECIDEGREES(navConfig()->fw.launch_climb_angle), posControl.pidProfile->max_angle_inclination[FD_PITCH]);
+    rcCommand[PITCH] = pidAngleToRcCommand(-DEGREES_TO_DECIDEGREES(navConfig()->fw.launch_climb_angle), pidProfile()->max_angle_inclination[FD_PITCH]);
     rcCommand[YAW] = 0;
 }
 

src/main/flight/navigation_rewrite_geo.c

@@ -27,6 +27,7 @@
 #include "build/debug.h"
 
 #include "common/axis.h"
+#include "common/filter.h"
 #include "common/maths.h"
 
 #include "sensors/sensors.h"

src/main/flight/navigation_rewrite_multicopter.c

@@ -46,6 +46,7 @@
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
 #include "flight/failsafe.h"
+#include "flight/mixer.h"
 
 /*-----------------------------------------------------------
  * Altitude controller for multicopter aircraft
@@ -104,8 +105,8 @@ static void updateAltitudeVelocityController_MC(uint32_t deltaMicros)
 static void updateAltitudeThrottleController_MC(uint32_t deltaMicros)
 {
     // Calculate min and max throttle boundaries (to compensate for integral windup)
-    const int16_t thrAdjustmentMin = (int16_t)posControl.motorConfig->minthrottle - (int16_t)navConfig()->mc.hover_throttle;
+    const int16_t thrAdjustmentMin = (int16_t)motorConfig()->minthrottle - (int16_t)navConfig()->mc.hover_throttle;
-    const int16_t thrAdjustmentMax = (int16_t)posControl.motorConfig->maxthrottle - (int16_t)navConfig()->mc.hover_throttle;
+    const int16_t thrAdjustmentMax = (int16_t)motorConfig()->maxthrottle - (int16_t)navConfig()->mc.hover_throttle;
 
     posControl.rcAdjustment[THROTTLE] = navPidApply2(posControl.desiredState.vel.V.Z, posControl.actualState.vel.V.Z, US2S(deltaMicros), &posControl.pids.vel[Z], thrAdjustmentMin, thrAdjustmentMax, false);
 
@@ -116,18 +117,18 @@ static void updateAltitudeThrottleController_MC(uint32_t deltaMicros)
 bool adjustMulticopterAltitudeFromRCInput(void)
 {
     int16_t rcThrottleAdjustment = rcCommand[THROTTLE] - altHoldThrottleRCZero;
-    if (ABS(rcThrottleAdjustment) > posControl.rcControlsConfig->alt_hold_deadband) {
+    if (ABS(rcThrottleAdjustment) > rcControlsConfig()->alt_hold_deadband) {
         // set velocity proportional to stick movement
         float rcClimbRate;
 
         // Make sure we can satisfy max_manual_climb_rate in both up and down directions
         if (rcThrottleAdjustment > 0) {
             // Scaling from altHoldThrottleRCZero to maxthrottle
-            rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (posControl.motorConfig->maxthrottle - altHoldThrottleRCZero);
+            rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (motorConfig()->maxthrottle - altHoldThrottleRCZero);
         }
         else {
             // Scaling from minthrottle to altHoldThrottleRCZero
-            rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (altHoldThrottleRCZero - posControl.motorConfig->minthrottle);
+            rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (altHoldThrottleRCZero - motorConfig()->minthrottle);
         }
 
         updateAltitudeTargetFromClimbRate(rcClimbRate, CLIMB_RATE_UPDATE_SURFACE_TARGET);
@@ -146,7 +147,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
 
 void setupMulticopterAltitudeController(void)
 {
-    const throttleStatus_e throttleStatus = calculateThrottleStatus(posControl.flight3DConfig->deadband3d_throttle);
+    const throttleStatus_e throttleStatus = calculateThrottleStatus(flight3DConfig()->deadband3d_throttle);
 
     if (navConfig()->general.flags.use_thr_mid_for_althold) {
         altHoldThrottleRCZero = rcLookupThrottleMid();
@@ -163,8 +164,8 @@ void setupMulticopterAltitudeController(void)
 
     // Make sure we are able to satisfy the deadband
     altHoldThrottleRCZero = constrain(altHoldThrottleRCZero,
-                                      posControl.motorConfig->minthrottle + posControl.rcControlsConfig->alt_hold_deadband + 10,
+                                      motorConfig()->minthrottle + rcControlsConfig()->alt_hold_deadband + 10,
-                                      posControl.motorConfig->maxthrottle - posControl.rcControlsConfig->alt_hold_deadband - 10);
+                                      motorConfig()->maxthrottle - rcControlsConfig()->alt_hold_deadband - 10);
 
     /* Force AH controller to initialize althold integral for pending takeoff on reset */
     if (throttleStatus == THROTTLE_LOW) {
@@ -224,7 +225,7 @@ static void applyMulticopterAltitudeController(timeUs_t currentTimeUs)
     }
 
     // Update throttle controller
-    rcCommand[THROTTLE] = constrain((int16_t)navConfig()->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], posControl.motorConfig->minthrottle, posControl.motorConfig->maxthrottle);
+    rcCommand[THROTTLE] = constrain((int16_t)navConfig()->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], motorConfig()->minthrottle, motorConfig()->maxthrottle);
 
     // Save processed throttle for future use
     rcCommandAdjustedThrottle = rcCommand[THROTTLE];
@@ -235,7 +236,7 @@ static void applyMulticopterAltitudeController(timeUs_t currentTimeUs)
  *-----------------------------------------------------------*/
 bool adjustMulticopterHeadingFromRCInput(void)
 {
-    if (ABS(rcCommand[YAW]) > posControl.rcControlsConfig->pos_hold_deadband) {
+    if (ABS(rcCommand[YAW]) > rcControlsConfig()->pos_hold_deadband) {
         // Can only allow pilot to set the new heading if doing PH, during RTH copter will target itself to home
         posControl.desiredState.yaw = posControl.actualState.yaw;
 
@@ -266,8 +267,8 @@ void resetMulticopterPositionController(void)
 
 bool adjustMulticopterPositionFromRCInput(void)
 {
-    const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], posControl.rcControlsConfig->pos_hold_deadband);
+    const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
-    const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], posControl.rcControlsConfig->pos_hold_deadband);
+    const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
 
     if (rcPitchAdjustment || rcRollAdjustment) {
         // If mode is GPS_CRUISE, move target position, otherwise POS controller will passthru the RC input to ANGLE PID
@@ -461,8 +462,8 @@ static void applyMulticopterPositionController(timeUs_t currentTimeUs)
     }
 
     if (!bypassPositionController) {
-        rcCommand[PITCH] = pidAngleToRcCommand(posControl.rcAdjustment[PITCH], posControl.pidProfile->max_angle_inclination[FD_PITCH]);
+        rcCommand[PITCH] = pidAngleToRcCommand(posControl.rcAdjustment[PITCH], pidProfile()->max_angle_inclination[FD_PITCH]);
-        rcCommand[ROLL] = pidAngleToRcCommand(posControl.rcAdjustment[ROLL], posControl.pidProfile->max_angle_inclination[FD_ROLL]);
+        rcCommand[ROLL] = pidAngleToRcCommand(posControl.rcAdjustment[ROLL], pidProfile()->max_angle_inclination[FD_ROLL]);
     }
 }
 
@@ -579,7 +580,7 @@ static void applyMulticopterEmergencyLandingController(timeUs_t currentTimeUs)
         }
 
         // Update throttle controller
-        rcCommand[THROTTLE] = constrain((int16_t)navConfig()->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], posControl.motorConfig->minthrottle, posControl.motorConfig->maxthrottle);
+        rcCommand[THROTTLE] = constrain((int16_t)navConfig()->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], motorConfig()->minthrottle, motorConfig()->maxthrottle);
     }
     else {
         /* Sensors has gone haywire, attempt to land regardless */
@@ -587,7 +588,7 @@ static void applyMulticopterEmergencyLandingController(timeUs_t currentTimeUs)
             rcCommand[THROTTLE] = failsafeConfig()->failsafe_throttle;
         }
         else {
-            rcCommand[THROTTLE] = posControl.motorConfig->minthrottle;
+            rcCommand[THROTTLE] = motorConfig()->minthrottle;
         }
     }
 }

src/main/flight/navigation_rewrite_pos_estimator.c

@@ -35,23 +35,25 @@
 
 #include "drivers/system.h"
 
-#include "sensors/sensors.h"
+#include "fc/config.h"
-#include "sensors/rangefinder.h"
+#include "fc/rc_controls.h"
-#include "sensors/barometer.h"
+#include "fc/runtime_config.h"
-#include "sensors/pitotmeter.h"
-#include "sensors/acceleration.h"
-#include "sensors/boardalignment.h"
-#include "sensors/compass.h"
 
-#include "io/gps.h"
-
-#include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
+#include "flight/pid.h"
+
+#include "io/gps.h"
+
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/compass.h"
+#include "sensors/pitotmeter.h"
+#include "sensors/rangefinder.h"
+#include "sensors/sensors.h"
 
-#include "fc/config.h"
-#include "fc/runtime_config.h"
 
 /**
  * Model-identification based position estimator

src/main/flight/navigation_rewrite_private.h

@@ -21,8 +21,8 @@
 
 #if defined(NAV)
 
+#include "common/filter.h"
 #include "fc/runtime_config.h"
-#include "rx/rx.h"
 
 #define MIN_POSITION_UPDATE_RATE_HZ         5       // Minimum position update rate at which XYZ controllers would be applied
 #define NAV_THROTTLE_CUTOFF_FREQENCY_HZ     4       // low-pass filter on throttle output
@@ -246,7 +246,6 @@ typedef struct {
     navigationFSMState_t                onEvent[NAV_FSM_EVENT_COUNT];
 } navigationFSMStateDescriptor_t;
 
-struct motorConfig_s;
 typedef struct {
     /* Flags and navigation system state */
     navigationFSMState_t        navState;
@@ -286,11 +285,6 @@ typedef struct {
     /* Internals */
     int16_t                     rcAdjustment[4];
 
-    const rcControlsConfig_t *        rcControlsConfig;
-    const pidProfile_t *              pidProfile;
-    const rxConfig_t *                rxConfig;
-    const flight3DConfig_t *          flight3DConfig;
-    const struct motorConfig_s *      motorConfig;
 } navigationPosControl_t;
 
 extern navigationPosControl_t posControl;

src/main/io/dashboard.c

@@ -54,6 +54,8 @@
 #include "io/gps.h"
 #endif
 
+#include "rx/rx.h"
+
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
 #include "sensors/compass.h"