Minor changes to directory structure to reflect changes in Cleanflight and betaflight

Makefile

@@ -122,9 +122,9 @@ endif
 
 REVISION = $(shell git log -1 --format="%h")
 
-FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
-FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
-FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
+FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/build/version.h | awk '{print $$3}' )
+FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/build/version.h | awk '{print $$3}' )
+FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk '{print $$3}' )
 
 FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 
@@ -357,12 +357,12 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
 VPATH           := $(VPATH):$(TARGET_DIR)
 
 COMMON_SRC = \
-            build_config.c \
-            debug.c \
-            version.c \
+            build/build_config.c \
+            build/debug.c \
+            build/version.c \
             $(TARGET_DIR_SRC) \
             main.c \
-            mw.c \
+            fc/mw.c \
             common/encoding.c \
             common/filter.c \
             common/maths.c \
@@ -370,7 +370,7 @@ COMMON_SRC = \
             common/typeconversion.c \
             common/streambuf.c \
             config/config.c \
-            config/runtime_config.c \
+            fc/runtime_config.c \
             drivers/adc.c \
             drivers/buf_writer.c \
             drivers/bus_i2c_soft.c \
@@ -398,8 +398,8 @@ COMMON_SRC = \
             flight/mixer.c \
             flight/pid.c \
             io/beeper.c \
-            io/rc_controls.c \
-            io/rc_curves.c \
+            fc/rc_controls.c \
+            fc/rc_curves.c \
             io/serial.c \
             io/serial_4way.c \
             io/serial_4way_avrootloader.c \

src/main/blackbox/blackbox.c

@@ -20,10 +20,11 @@
 #include <math.h>
 
 #include "platform.h"
-#include "version.h"
 
 #ifdef BLACKBOX
 
+#include "build/version.h"
+
 #include "common/maths.h"
 #include "common/axis.h"
 #include "common/color.h"
@@ -49,10 +50,12 @@
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
 
+#include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
+
 #include "io/beeper.h"
 #include "io/display.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -71,7 +74,6 @@
 #include "flight/imu.h"
 #include "flight/navigation_rewrite.h"
 
-#include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"

src/main/blackbox/blackbox_io.c

@@ -21,8 +21,8 @@
 
 #include "blackbox_io.h"
 
-#include "version.h"
-#include "build_config.h"
+#include "build/version.h"
+#include "build/build_config.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -52,7 +52,8 @@
 #include "io/display.h"
 #include "io/escservo.h"
 #include "rx/rx.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 
 #include "io/gimbal.h"
 #include "io/gps.h"
@@ -70,7 +71,7 @@
 #include "flight/imu.h"
 #include "flight/navigation_rewrite.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"

src/main/common/printf.c

@@ -36,12 +36,14 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/serial.h"
 #include "io/serial.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "printf.h"
 
 #ifdef REQUIRE_PRINTF_LONG_SUPPORT

src/main/common/typeconversion.c

@@ -17,7 +17,8 @@
 #include <stdint.h>
 #include <string.h>
 #include <math.h>
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "maths.h"
 
 #ifdef REQUIRE_PRINTF_LONG_SUPPORT

src/main/config/config.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/color.h"
 #include "common/axis.h"
@@ -50,8 +51,8 @@
 #include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 
@@ -68,7 +69,8 @@
 #include "flight/failsafe.h"
 #include "flight/navigation_rewrite.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "config/config_profile.h"

src/main/drivers/accgyro_l3gd20.c

@@ -19,8 +19,10 @@
 #include <stdint.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+
+#include "build/debug.h"
+
 
 #include "common/maths.h"
 

src/main/drivers/accgyro_lsm303dlhc.c

@@ -22,7 +22,8 @@
 
 #ifdef USE_ACC_LSM303DLHC
 
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "common/maths.h"
 #include "common/axis.h"

src/main/drivers/accgyro_mpu.c

@@ -21,8 +21,10 @@
 #include <string.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+
+#include "build/debug.h"
+
 
 #include "common/maths.h"
 

src/main/drivers/accgyro_mpu6050.c

@@ -20,8 +20,10 @@
 #include <stdlib.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+
+#include "build/debug.h"
+
 
 #include "common/maths.h"
 

src/main/drivers/accgyro_spi_mpu9250.c

@@ -38,7 +38,8 @@
 #include "exti.h"
 #include "bus_spi.h"
 #include "gyro_sync.h"
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "sensor.h"
 #include "accgyro.h"

src/main/drivers/adc.c

@@ -19,8 +19,10 @@
 #include <stdint.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+
+#include "build/debug.h"
+
 
 #include "system.h"
 

src/main/drivers/adc_stm32f10x.c

@@ -23,7 +23,8 @@
 
 #ifdef USE_ADC
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "system.h"
 #include "sensor.h"

src/main/drivers/barometer_bmp085.c

@@ -20,7 +20,8 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "barometer.h"
 

src/main/drivers/barometer_bmp280.c

@@ -20,7 +20,8 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "barometer.h"
 

src/main/drivers/barometer_ms5611.c

@@ -25,7 +25,8 @@
 #include "system.h"
 #include "bus_i2c.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 // MS5611, Standard address 0x77
 #define MS5611_ADDR                 0x77

src/main/drivers/bus_i2c_soft.c

@@ -20,7 +20,8 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "bus_i2c.h"
 #include "io.h"
 

src/main/drivers/bus_spi_soft.c

@@ -22,7 +22,8 @@
 
 #ifdef USE_SOFTSPI
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "io.h"
 #include "io_impl.h"

src/main/drivers/compass_ak8963.c

@@ -20,11 +20,13 @@
 
 #include <math.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "platform.h"
 
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "common/axis.h"
 #include "common/maths.h"

src/main/drivers/compass_ak8975.c

@@ -24,7 +24,8 @@
 
 #ifdef USE_MAG_AK8975
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/axis.h"
 #include "common/maths.h"

src/main/drivers/compass_hmc5883l.c

@@ -24,7 +24,8 @@
 
 #ifdef USE_MAG_HMC5883
 
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "common/axis.h"
 #include "common/maths.h"

src/main/drivers/compass_mag3110.c

@@ -24,7 +24,8 @@
 
 #ifdef USE_MAG_MAG3110
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/axis.h"
 #include "common/maths.h"

src/main/drivers/gpio_stm32f4xx.c

@@ -20,7 +20,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "gpio.h"
 

src/main/drivers/gps_i2cnav.c

@@ -20,7 +20,8 @@
 
 #include <platform.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "gps_i2cnav.h"
 

src/main/drivers/gyro_sync.c

@@ -19,7 +19,8 @@
 #include <stdlib.h>
 
 #include "platform.h"
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -28,7 +29,8 @@
 #include "drivers/accgyro.h"
 #include "drivers/gyro_sync.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 extern gyro_t gyro;

src/main/drivers/light_ws2811strip.c

@@ -32,7 +32,8 @@
 
 #ifdef LED_STRIP
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/color.h"
 #include "common/colorconversion.h"

src/main/drivers/pwm_rx.c

@@ -22,8 +22,10 @@
 
 #ifndef SKIP_RX_PWM_PPM
 
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+
+#include "build/debug.h"
+
 
 #include "common/utils.h"
 

src/main/drivers/rx_nrf24l01.c

@@ -26,7 +26,8 @@
 
 #ifdef USE_RX_NRF24
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "system.h"
 #include "gpio.h"
 #include "io.h"

src/main/drivers/serial_softserial.c

@@ -22,10 +22,11 @@
 
 #if defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)
 
-#include "build_config.h"
+#include "build/build_config.h"
+
+#include "build/atomic.h"
 
 #include "common/utils.h"
-#include "common/atomic.h"
 
 #include "nvic.h"
 #include "system.h"

src/main/drivers/serial_uart.c

@@ -25,7 +25,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/utils.h"
 #include "gpio.h"

src/main/drivers/serial_usb_vcp.c

@@ -20,7 +20,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "common/utils.h"
 #include "io.h"
 

src/main/drivers/sonar_hcsr04.c

@@ -22,7 +22,8 @@
 
 #if defined(SONAR)
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "system.h"
 #include "exti.h"

src/main/drivers/sonar_srf10.c

@@ -22,7 +22,8 @@
 
 #if defined(SONAR) && defined(USE_SONAR_SRF10)
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/system.h"
 #include "drivers/bus_i2c.h"

src/main/drivers/sound_beeper_stm32f10x.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "system.h"
 #include "gpio.h"

src/main/drivers/sound_beeper_stm32f30x.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "gpio.h"
 

src/main/drivers/timer.c

@@ -20,11 +20,12 @@
 #include <string.h>
 
 #include "platform.h"
+
+#include "build/atomic.h"
+
 #include "common/utils.h"
-#include "common/atomic.h"
 
 #include "nvic.h"
-
 #include "io.h"
 #include "rcc.h"
 #include "system.h"

src/main/fc/mw.c

@@ -21,7 +21,8 @@
 #include <math.h>
 
 #include "platform.h"
-#include "debug.h"
+
+#include "build/debug.h"
 
 #include "scheduler/scheduler.h"
 #include "scheduler/scheduler_tasks.h"
@@ -53,11 +54,13 @@
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
 
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "fc/runtime_config.h"
+
 #include "io/beeper.h"
 #include "io/display.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -80,7 +83,6 @@
 #include "flight/failsafe.h"
 #include "flight/navigation_rewrite.h"
 
-#include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"

src/main/fc/rc_controls.c

@@ -23,7 +23,7 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -43,8 +43,10 @@
 #include "io/gps.h"
 #include "io/beeper.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "fc/runtime_config.h"
 
 #include "io/display.h"
 
@@ -53,7 +55,6 @@
 #include "flight/failsafe.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
 
 #include "blackbox/blackbox.h"
 

src/main/fc/rc_curves.c

@@ -19,10 +19,10 @@
 #include <stdint.h>
 
 #include "rx/rx.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
 #include "io/escservo.h"
 
-#include "io/rc_curves.h"
 
 #define PITCH_LOOKUP_LENGTH 7
 #define YAW_LOOKUP_LENGTH 7

src/main/fc/rc_curves.h

@@ -17,7 +17,9 @@
 
 #pragma once
 
-void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig);
+struct controlRateConfig_s;
+struct escAndServoConfig_s;
+void generateThrottleCurve(struct controlRateConfig_s *controlRateConfig, struct escAndServoConfig_s *escAndServoConfig);
 
 int16_t rcLookup(int32_t stickDeflection, uint8_t expo);
 int16_t rcLookupThrottle(int32_t tmp);

src/main/fc/runtime_config.c

@@ -18,7 +18,7 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 #include "io/beeper.h"
 
 uint8_t armingFlags = 0;

src/main/flight/failsafe.c

@@ -20,9 +20,11 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
+
+#include "build/debug.h"
 
-#include "debug.h"
 
 #include "common/axis.h"
 
@@ -30,8 +32,10 @@
 #include "drivers/system.h"
 #include "io/beeper.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "config/runtime_config.h"
+#include "fc/rc_controls.h"
+
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "flight/failsafe.h"

src/main/flight/hil.c

@@ -21,9 +21,11 @@
 #include <stdint.h>
 #include <math.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "platform.h"
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -43,7 +45,8 @@
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #ifdef HIL

src/main/flight/imu.c

@@ -23,10 +23,13 @@
 
 #include "common/maths.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "platform.h"
-#include "debug.h"
-#include "build_config.h"
+#include "build/debug.h"
+
+#include "build/build_config.h"
+
 
 #include "common/axis.h"
 #include "common/filter.h"
@@ -48,7 +51,8 @@
 #include "flight/hil.h"
 
 #include "io/gps.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 /**

src/main/flight/mixer.c

@@ -21,9 +21,11 @@
 #include <string.h>
 
 #include "platform.h"
-#include "debug.h"
+#include "build/debug.h"
+
+
+#include "build/build_config.h"
 
-#include "build_config.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -40,7 +42,8 @@
 
 #include "io/gimbal.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"
@@ -51,7 +54,8 @@
 #include "flight/imu.h"
 #include "flight/navigation_rewrite.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 #include "config/config_profile.h"
 

src/main/flight/navigation_rewrite.c

@@ -19,9 +19,11 @@
 #include <stdint.h>
 #include <math.h>
 
-#include "build_config.h"
+
 #include "platform.h"
-#include "debug.h"
+
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -43,7 +45,7 @@
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 #include "config/config.h"
 
 /*-----------------------------------------------------------

src/main/flight/navigation_rewrite.h

@@ -20,7 +20,7 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
 #include "io/escservo.h"
 #include "io/gps.h"
 

src/main/flight/navigation_rewrite_fixedwing.c

@@ -19,12 +19,12 @@
 #include <stdint.h>
 #include <math.h>
 
-#include "build_config.h"
 #include "platform.h"
 
 #if defined(NAV)
 
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -43,7 +43,7 @@
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 #include "config/config.h"
 
 // If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind

src/main/flight/navigation_rewrite_geo.c

@@ -19,12 +19,12 @@
 #include <stdint.h>
 #include <math.h>
 
-#include "build_config.h"
 #include "platform.h"
 
 #if defined(NAV)
 
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -42,7 +42,7 @@
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 #include "config/config.h"
 
 #if defined(NAV_AUTO_MAG_DECLINATION)

src/main/flight/navigation_rewrite_multicopter.c

@@ -19,12 +19,12 @@
 #include <stdint.h>
 #include <math.h>
 
-#include "build_config.h"
 #include "platform.h"
 
 #if defined(NAV)
 
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -39,8 +39,10 @@
 #include "sensors/boardalignment.h"
 
 #include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "io/rc_curves.h"
+
+#include "fc/rc_controls.h"
+#include "fc/rc_curves.h"
+#include "fc/runtime_config.h"
 
 #include "flight/pid.h"
 #include "flight/imu.h"
@@ -48,7 +50,6 @@
 #include "flight/navigation_rewrite_private.h"
 #include "flight/failsafe.h"
 
-#include "config/runtime_config.h"
 #include "config/config.h"
 
 /*-----------------------------------------------------------

src/main/flight/navigation_rewrite_pos_estimator.c

@@ -20,12 +20,12 @@
 #include <math.h>
 #include <string.h>
 
-#include "build_config.h"
 #include "platform.h"
 
 #if defined(NAV)
 
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -47,7 +47,7 @@
 #include "flight/navigation_rewrite.h"
 #include "flight/navigation_rewrite_private.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 #include "config/config.h"
 
 /**

src/main/flight/navigation_rewrite_private.h

@@ -21,7 +21,7 @@
 
 #if defined(NAV)
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.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

src/main/flight/pid.c

@@ -21,10 +21,13 @@
 
 #include <platform.h>
 
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+
+#include "build/debug.h"
+
+
+#include "fc/runtime_config.h"
 
-#include "config/runtime_config.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -40,7 +43,8 @@
 
 #include "rx/rx.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 #include "io/gps.h"
 
 #include "flight/pid.h"

src/main/flight/pid.h

@@ -17,12 +17,6 @@
 
 #pragma once
 
-#include "rx/rx.h"
-
-#include "io/rc_controls.h"
-
-#include "config/runtime_config.h"
-
 #define GYRO_SATURATION_LIMIT   1800        // 1800dps
 #define PID_MAX_OUTPUT          1000
 #define YAW_P_LIMIT_MIN 100                 // Maximum value for yaw P limiter
@@ -78,8 +72,10 @@ extern int32_t axisPID_P[], axisPID_I[], axisPID_D[], axisPID_Setpoint[];
 
 void pidInit(void);
 void pidResetErrorAccumulators(void);
-void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, const rxConfig_t *rxConfig);
-void pidController(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, const rxConfig_t *rxConfig);
+struct controlRateConfig_s;
+struct rxConfig_s;
+void updatePIDCoefficients(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct rxConfig_s *rxConfig);
+void pidController(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct rxConfig_s *rxConfig);
 
 float pidRateToRcCommand(float rateDPS, uint8_t rate);
 int16_t pidAngleToRcCommand(float angleDeciDegrees, int16_t maxInclination);

src/main/io/beeper.c

@@ -20,7 +20,8 @@
 #include "stdlib.h"
 
 #include "platform.h"
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/gpio.h"
 #include "drivers/sound_beeper.h"
@@ -29,14 +30,16 @@
 #include "sensors/sensors.h"
 
 #include "rx/rx.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 #include "io/statusindicator.h"
 
 #ifdef GPS
 #include "io/gps.h"
 #endif
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "io/beeper.h"

src/main/io/display.c

@@ -21,9 +21,11 @@
 #include <string.h>
 
 #include "platform.h"
-#include "version.h"
 
-#include "build_config.h"
+#ifdef DISPLAY
+
+#include "build/version.h"
+#include "build/build_config.h"
 
 #include "drivers/serial.h"
 #include "drivers/system.h"
@@ -37,8 +39,6 @@
 #include "common/axis.h"
 #include "common/typeconversion.h"
 
-#ifdef DISPLAY
-
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
 #include "sensors/compass.h"
@@ -48,7 +48,8 @@
 
 #include "rx/rx.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 
 #include "flight/pid.h"
 #include "flight/imu.h"
@@ -59,7 +60,8 @@
 #include "flight/navigation_rewrite.h"
 #endif
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 
 #include "config/config.h"
 

src/main/io/gps.c

@@ -21,11 +21,13 @@
 #include <math.h>
 
 #include "platform.h"
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #ifdef GPS
 
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -50,7 +52,7 @@
 #include "flight/navigation_rewrite.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 
 // GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2000 ms)
 #define GPS_TIMEOUT             (2000)

src/main/io/gps_i2cnav.c

@@ -20,11 +20,11 @@
 #include <ctype.h>
 
 #include "platform.h"
-#include "build_config.h"
 
 #if defined(GPS) && defined(GPS_PROTO_I2C_NAV)
 
-#include "debug.h"
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -44,7 +44,7 @@
 #include "flight/navigation_rewrite.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 
 #define GPS_I2C_POLL_RATE_HZ    20  // Poll I2C GPS at this rate
 

src/main/io/gps_naza.c

@@ -22,11 +22,13 @@
 #include <math.h>
 
 #include "platform.h"
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #if defined(GPS) && defined(GPS_PROTO_NAZA)
 
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -43,7 +45,8 @@
 #include "flight/gps_conversion.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 
 #define NAZA_MAX_PAYLOAD_SIZE   256
 

src/main/io/gps_nmea.c

@@ -22,11 +22,13 @@
 #include <math.h>
 
 #include "platform.h"
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #if defined(GPS) && defined(GPS_PROTO_NMEA)
 
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -43,7 +45,7 @@
 #include "flight/gps_conversion.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 
 /* This is a light implementation of a GPS frame decoding
    This should work with most of modern GPS devices configured to output 5 frames.

src/main/io/gps_ublox.c

@@ -23,11 +23,13 @@
 #include <math.h>
 
 #include "platform.h"
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #if defined(GPS) && defined(GPS_PROTO_UBLOX)
 
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "common/maths.h"
 #include "common/axis.h"
@@ -44,7 +46,7 @@
 #include "flight/gps_conversion.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
 
 //#define GPS_PROTO_UBLOX_NEO7PLUS
 #define GPS_VERSION_DETECTION_TIMEOUT_MS    300

src/main/io/ledstrip.c

@@ -23,13 +23,13 @@
 
 #include <platform.h>
 
-#include <build_config.h>
-
 #ifdef LED_STRIP
 
-#include <common/color.h>
-#include <common/maths.h>
-#include <common/typeconversion.h>
+#include "build/build_config.h"
+
+#include "common/color.h"
+#include "common/maths.h"
+#include "common/typeconversion.h"
 
 #include "drivers/light_ws2811strip.h"
 #include "drivers/system.h"
@@ -44,7 +44,8 @@
 #include "common/axis.h"
 #include "common/utils.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
@@ -70,7 +71,8 @@
 
 #include "telemetry/telemetry.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"

src/main/io/serial.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/utils.h"
 

src/main/io/serial_cli.c

@@ -24,12 +24,12 @@
 #include <ctype.h>
 
 #include "platform.h"
-#include "version.h"
+
+#include "build/version.h"
+#include "build/build_config.h"
 
 #include "scheduler/scheduler.h"
 
-#include "build_config.h"
-
 #include "common/axis.h"
 #include "common/maths.h"
 #include "common/color.h"
@@ -55,7 +55,8 @@
 #include "io/escservo.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 #include "io/serial.h"
 #include "io/ledstrip.h"
 #include "io/flashfs.h"
@@ -82,7 +83,8 @@
 #include "telemetry/telemetry.h"
 #include "telemetry/frsky.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"

src/main/io/serial_msp.c

@@ -21,10 +21,12 @@
 #include <string.h>
 #include <math.h>
 
-#include "build_config.h"
-#include "debug.h"
 #include "platform.h"
 
+#include "build/build_config.h"
+#include "build/debug.h"
+#include "build/version.h"
+
 #include "scheduler/scheduler.h"
 
 #include "common/axis.h"
@@ -52,7 +54,8 @@
 #include "blackbox/blackbox.h"
 
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "io/serial.h"
@@ -79,16 +82,15 @@
 #include "flight/failsafe.h"
 #include "flight/navigation_rewrite.h"
 
-#include "mw.h"
+#include "fc/mw.h"
+#include "fc/runtime_config.h"
 
-#include "config/runtime_config.h"
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
 #include "blackbox/blackbox.h"
 
-#include "version.h"
 #ifdef NAZE
 #include "hardware_revision.h"
 #endif

src/main/main.c

@@ -21,9 +21,12 @@
 
 #include "platform.h"
 
+#include "build/atomic.h"
+#include "build/build_config.h"
+#include "build/debug.h"
+
 #include "common/axis.h"
 #include "common/color.h"
-#include "common/atomic.h"
 #include "common/maths.h"
 #include "common/printf.h"
 
@@ -65,7 +68,8 @@
 #include "io/flashfs.h"
 #include "io/gps.h"
 #include "io/escservo.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 #include "io/gimbal.h"
 #include "io/ledstrip.h"
 #include "io/display.h"
@@ -94,7 +98,8 @@
 #include "flight/failsafe.h"
 #include "flight/navigation_rewrite.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 #include "config/config_profile.h"
 #include "config/config_master.h"
@@ -103,8 +108,6 @@
 #include "hardware_revision.h"
 #endif
 
-#include "build_config.h"
-#include "debug.h"
 
 extern uint8_t motorControlEnable;
 

src/main/rx/ibus.c

@@ -27,7 +27,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/system.h"
 

src/main/rx/jetiexbus.c

@@ -40,7 +40,8 @@
 #include "platform.h"
 
 #include "common/utils.h"
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "drivers/system.h"
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
@@ -61,7 +62,8 @@
 #endif //TELEMETRY
 
 
-#include "debug.h"
+#include "build/debug.h"
+
 #include "rx/rx.h"
 
 //

src/main/rx/msp.c

@@ -20,7 +20,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #ifndef SKIP_RX_MSP
 

src/main/rx/nrf24.c

@@ -22,7 +22,8 @@
 
 #ifdef USE_RX_NRF24
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 #include "drivers/rx_nrf24l01.h"
 #include "rx/rx.h"
 #include "rx/nrf24.h"

src/main/rx/nrf24_cx10.c

@@ -23,7 +23,8 @@
 #include <string.h>
 
 #include <platform.h>
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #ifdef USE_RX_CX10
 

src/main/rx/nrf24_h8_3d.c

@@ -26,7 +26,8 @@
 
 #ifdef USE_RX_H8_3D
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/rx_nrf24l01.h"
 #include "drivers/rx_xn297.h"

src/main/rx/nrf24_syma.c

@@ -23,7 +23,8 @@
 #include <string.h>
 
 #include <platform.h>
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #ifdef USE_RX_SYMA
 

src/main/rx/nrf24_v202.c

@@ -23,7 +23,8 @@
 #include <stdlib.h>
 
 #include <platform.h>
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #ifdef USE_RX_V202
 

src/main/rx/pwm.c

@@ -21,7 +21,8 @@
 
 #include <string.h>
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "platform.h"
 

src/main/rx/rx.c

@@ -22,8 +22,10 @@
 #include <string.h>
 
 #include "platform.h"
-#include "build_config.h"
-#include "debug.h"
+#include "build/build_config.h"
+
+#include "build/debug.h"
+
 
 
 #include "common/maths.h"
@@ -34,7 +36,8 @@
 #include "drivers/adc.h"
 
 #include "io/serial.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 
 #include "flight/failsafe.h"
 

src/main/rx/sbus.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/system.h"
 

src/main/rx/spektrum.c

@@ -20,7 +20,8 @@
 #include <stdlib.h>
 
 #include "platform.h"
-#include "debug.h"
+#include "build/debug.h"
+
 
 #include "drivers/io.h"
 #include "drivers/io_impl.h"

src/main/rx/sumd.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/system.h"
 

src/main/rx/sumh.c

@@ -27,7 +27,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/system.h"
 

src/main/scheduler/scheduler.c

@@ -25,8 +25,10 @@ typedef enum {TEST_IRQ = 0 } IRQn_Type;
 #include "platform.h"
 
 #include "scheduler.h"
-#include "debug.h"
-#include "build_config.h"
+#include "build/debug.h"
+
+#include "build/build_config.h"
+
 
 #include "common/maths.h"
 

src/main/sensors/acceleration.c

@@ -33,7 +33,8 @@
 #include "sensors/sensors.h"
 #include "io/beeper.h"
 #include "sensors/boardalignment.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "sensors/acceleration.h"

src/main/sensors/battery.c

@@ -26,14 +26,16 @@
 #include "drivers/adc.h"
 #include "drivers/system.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "sensors/battery.h"
 
 #include "rx/rx.h"
 
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+
 #include "io/beeper.h"
 
 #define VBATT_PRESENT_THRESHOLD_MV    10

src/main/sensors/compass.c

@@ -31,7 +31,8 @@
 #include "drivers/light_led.h"
 
 #include "sensors/boardalignment.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "sensors/sensors.h"

src/main/sensors/initialisation.c

@@ -20,7 +20,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/axis.h"
 
@@ -61,7 +62,8 @@
 #include "drivers/sonar_hcsr04.h"
 #include "drivers/sonar_srf10.h"
 
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 #include "config/config.h"
 
 #include "sensors/sensors.h"

src/main/sensors/rangefinder.c

@@ -24,12 +24,14 @@
 
 #ifdef SONAR
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "common/maths.h"
 
 #include "config/config.h"
-#include "config/runtime_config.h"
+#include "fc/runtime_config.h"
+
 
 #include "drivers/io.h"
 #include "drivers/sonar_hcsr04.h"

src/main/target/ALIENFLIGHTF3/hardware_revision.c

@@ -20,7 +20,8 @@
 #include <stdlib.h>
 
 #include "platform.h"
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/system.h"
 #include "drivers/io.h"

src/main/target/CJMCU/hardware_revision.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/system.h"
 #include "drivers/bus_spi.h"

src/main/target/NAZE/hardware_revision.c

@@ -21,7 +21,8 @@
 
 #include "platform.h"
 
-#include "build_config.h"
+#include "build/build_config.h"
+
 
 #include "drivers/system.h"
 #include "drivers/bus_spi.h"

src/main/telemetry/frsky.c

@@ -45,7 +45,9 @@
 #include "sensors/battery.h"
 
 #include "io/serial.h"
-#include "io/rc_controls.h"
+#include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
+
 #include "io/gps.h"
 
 #include "rx/rx.h"