From 03ef7f9ba981bcdd9087d068fc9a54393d918ec7 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Tue, 17 May 2016 08:45:33 +0100
Subject: [PATCH] Moved declaration of pidControllerFuncPtr into pid.h

---
 src/main/flight/pid.c           | 21 ++++++++-------------
 src/main/flight/pid.h           |  6 ++++++
 src/main/mw.c                   |  3 ---
 src/main/sensors/acceleration.h |  2 +-
 4 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 85de0917a..58e04898f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -68,11 +68,8 @@ static float errorGyroIf[3], errorGyroIfLimit[3];
 
 static bool lowThrottlePidReduction;
 
-static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
-        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
-
-typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
-        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);            // pid controller function prototype
+static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig,
+        uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
 
 pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using, defaultMultiWii
 
@@ -80,7 +77,7 @@ void setTargetPidLooptime(uint8_t pidProcessDenom) {
 	targetPidLooptime = targetLooptime * pidProcessDenom;
 }
 
-float calculateExpoPlus(int axis, rxConfig_t *rxConfig) {
+float calculateExpoPlus(int axis, const rxConfig_t *rxConfig) {
     float propFactor;
     float superExpoFactor;
 
@@ -94,7 +91,7 @@ float calculateExpoPlus(int axis, rxConfig_t *rxConfig) {
     return propFactor;
 }
 
-uint16_t getDynamicKp(int axis, pidProfile_t *pidProfile) {
+uint16_t getDynamicKp(int axis, const pidProfile_t *pidProfile) {
     uint16_t dynamicKp;
 
     uint32_t dynamicFactor = constrain(ABS(rcCommand[axis] << 8) / DYNAMIC_PTERM_STICK_THRESHOLD, 0, 1 << 7);
@@ -136,8 +133,8 @@ static filterStatePt1_t deltaFilterState[3];
 static filterStatePt1_t yawFilterState;
 
 #ifndef SKIP_PID_LUXFLOAT
-static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
-        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
+static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig,
+        uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
 {
     float RateError, AngleRate, gyroRate;
     float ITerm,PTerm,DTerm;
@@ -277,11 +274,9 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
 }
 #endif
 
-static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
-        rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
+static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
+        const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
 {
-    UNUSED(rxConfig);
-
     int axis;
     int32_t PTerm, ITerm, DTerm, delta;
     static int32_t lastRate[3];
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index cdb571c17..046adbcb6 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -90,6 +90,12 @@ typedef struct pidProfile_s {
 #endif
 } pidProfile_t;
 
+struct controlRateConfig_s;
+union rollAndPitchTrims_u;
+struct rxConfig_s;
+typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig,
+        uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);            // pid controller function prototype
+
 extern int16_t axisPID[XYZ_AXIS_COUNT];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 bool antiWindupProtection;
diff --git a/src/main/mw.c b/src/main/mw.c
index bfb0a1a54..b9da3e6b7 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -119,9 +119,6 @@ uint16_t filteredCycleTime;
 static bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
 
-typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
-        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);            // pid controller function prototype
-
 extern pidControllerFuncPtr pid_controller;
 
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index d2d892fd6..38006a04f 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -45,7 +45,7 @@ typedef struct rollAndPitchTrims_s {
     int16_t pitch;
 } rollAndPitchTrims_t_def;
 
-typedef union {
+typedef union rollAndPitchTrims_u {
     int16_t raw[2];
     rollAndPitchTrims_t_def values;
 } rollAndPitchTrims_t;