Cleanup project structure. Update unit test Makefile to place object

files in obj/test

src/main/flight/flight.h

@@ -0,0 +1,125 @@
+#pragma once
+
+
+typedef enum {
+    PIDROLL,
+    PIDPITCH,
+    PIDYAW,
+    PIDALT,
+    PIDPOS,
+    PIDPOSR,
+    PIDNAVR,
+    PIDLEVEL,
+    PIDMAG,
+    PIDVEL,
+    PID_ITEM_COUNT
+} pidIndex_e;
+
+typedef struct pidProfile_s {
+    uint8_t P8[PID_ITEM_COUNT];
+    uint8_t I8[PID_ITEM_COUNT];
+    uint8_t D8[PID_ITEM_COUNT];
+
+    float P_f[3];                           // float p i and d factors for the new baseflight pid
+    float I_f[3];
+    float D_f[3];
+    float A_level;
+    float H_level;
+} pidProfile_t;
+
+typedef enum {
+    AI_ROLL = 0,
+    AI_PITCH,
+} angle_index_t;
+
+#define ANGLE_INDEX_COUNT 2
+
+// See http://en.wikipedia.org/wiki/Flight_dynamics
+typedef enum {
+    FD_ROLL = 0,
+    FD_PITCH,
+    FD_YAW
+} flight_dynamics_index_t;
+
+#define FLIGHT_DYNAMICS_INDEX_COUNT 3
+
+typedef struct fp_vector {
+    float X;
+    float Y;
+    float Z;
+} t_fp_vector_def;
+
+typedef union {
+    float A[3];
+    t_fp_vector_def V;
+} t_fp_vector;
+
+typedef struct fp_angles {
+    float roll;
+    float pitch;
+    float yaw;
+} fp_angles_def;
+
+typedef union {
+    float raw[3];
+    fp_angles_def angles;
+} fp_angles_t;
+
+typedef struct int16_flightDynamicsTrims_s {
+    int16_t roll;
+    int16_t pitch;
+    int16_t yaw;
+} flightDynamicsTrims_def_t;
+
+typedef union {
+    int16_t raw[3];
+    flightDynamicsTrims_def_t values;
+} flightDynamicsTrims_t;
+
+typedef struct rollAndPitchTrims_s {
+    int16_t roll;
+    int16_t pitch;
+} rollAndPitchTrims_t_def;
+
+typedef union {
+    int16_t raw[2];
+    rollAndPitchTrims_t_def values;
+} rollAndPitchTrims_t;
+
+typedef struct rollAndPitchInclination_s {
+    // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
+    int16_t rollDeciDegrees;
+    int16_t pitchDeciDegrees;
+} rollAndPitchInclination_t_def;
+
+typedef union {
+    int16_t raw[ANGLE_INDEX_COUNT];
+    rollAndPitchInclination_t_def values;
+} rollAndPitchInclination_t;
+
+
+#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
+#define DECIDEGREES_TO_DEGREES(angle) (angle / 10.0f)
+
+extern rollAndPitchInclination_t inclination;
+
+extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
+extern int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT];
+
+extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
+extern int32_t accSum[XYZ_AXIS_COUNT];
+extern int16_t axisPID[XYZ_AXIS_COUNT];
+
+extern int16_t heading, magHold;
+
+extern int32_t EstAlt;
+extern int32_t AltHold;
+extern int32_t EstAlt;
+extern int32_t vario;
+
+void setPIDController(int type);
+void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims);
+void resetErrorAngle(void);
+void resetErrorGyro(void);
+
+