More relocation of variables.

src/main/common/axis.h

@@ -25,3 +25,18 @@ typedef enum {
 
 #define XYZ_AXIS_COUNT 3
 
+// 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 enum {
+    AI_ROLL = 0,
+    AI_PITCH,
+} angle_index_t;
+
+#define ANGLE_INDEX_COUNT 2

src/main/flight/altitudehold.h

@@ -22,6 +22,9 @@
 
 #include "sensors/barometer.h"
 
+extern int32_t AltHold;
+extern int32_t vario;
+
 void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, rcControlsConfig_t *initialRcControlsConfig, escAndServoConfig_t *initialEscAndServoConfig);
 void applyAltHold(airplaneConfig_t *airplaneConfig);
 void updateAltHoldState(void);

src/main/flight/flight.c

@@ -48,7 +48,7 @@
 extern uint16_t cycleTime;
 extern uint8_t motorCount;
 
-int16_t heading, magHold;
+int16_t heading;
 int16_t axisPID[3];
 
 #ifdef BLACKBOX

src/main/flight/flight.h

@@ -49,39 +49,12 @@ typedef struct pidProfile_s {
     uint8_t H_sensitivity;
 } 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
-
 #define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
 #define DECIDEGREES_TO_DEGREES(angle) (angle / 10.0f)
 
-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 int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 
-extern int16_t heading, magHold;
-
-extern int32_t AltHold;
-extern int32_t vario;
-
 void setPIDController(int type);
 void resetErrorAngle(void);
 void resetErrorGyro(void);

src/main/flight/imu.c

@@ -48,8 +48,9 @@
 
 extern int16_t debug[4];
 
-int16_t gyroADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
+int16_t accSmooth[XYZ_AXIS_COUNT];
 int32_t accSum[XYZ_AXIS_COUNT];
+int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
 
 uint32_t accTimeSum = 0;        // keep track for integration of acc
 int accSumCount = 0;
@@ -63,11 +64,6 @@ float fc_acc;
 float magneticDeclination = 0.0f;       // calculated at startup from config
 float gyroScaleRad;
 
-// **************
-// gyro+acc IMU
-// **************
-int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
-int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
 
 rollAndPitchInclination_t inclination = { { 0, 0 } };     // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
 float anglerad[2] = { 0.0f, 0.0f };    // absolute angle inclination in radians

src/main/flight/imu.h

@@ -22,6 +22,11 @@ extern uint32_t accTimeSum;
 extern int accSumCount;
 extern float accVelScale;
 
+extern int16_t accSmooth[XYZ_AXIS_COUNT];
+extern int32_t accSum[XYZ_AXIS_COUNT];
+extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
+
+
 typedef struct rollAndPitchInclination_s {
     // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
     int16_t rollDeciDegrees;

src/main/flight/navigation.c

@@ -57,6 +57,7 @@ extern int16_t debug[4];
 
 bool areSticksInApModePosition(uint16_t ap_mode);
 
+int16_t magHold;
 
 // **********************
 // GPS

src/main/flight/navigation.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+extern int16_t magHold;
+
 // navigation mode
 typedef enum {
     NAV_MODE_NONE = 0,

src/main/io/display.c

@@ -26,32 +26,36 @@
 #include "build_config.h"
 
 #include "drivers/serial.h"
+#include "drivers/system.h"
+#include "drivers/display_ug2864hsweg01.h"
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+
 #include "common/printf.h"
 #include "common/maths.h"
+#include "common/axis.h"
 
 #ifdef DISPLAY
 
-#include "drivers/system.h"
-#include "drivers/display_ug2864hsweg01.h"
-
-#include "drivers/sensor.h"
-#include "drivers/compass.h"
-
 #include "sensors/battery.h"
-
-#include "common/axis.h"
-#include "flight/flight.h"
 #include "sensors/sensors.h"
 #include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/gyro.h"
+
+#include "rx/rx.h"
+
+#include "io/rc_controls.h"
+
+#include "flight/flight.h"
+#include "flight/imu.h"
 
 #ifdef GPS
 #include "io/gps.h"
 #include "flight/navigation.h"
 #endif
 
-#include "rx/rx.h"
-#include "io/rc_controls.h"
-
 #include "config/runtime_config.h"
 
 #include "config/config.h"

src/main/sensors/gyro.c

@@ -33,6 +33,8 @@
 #include "sensors/gyro.h"
 
 uint16_t calibratingG = 0;
+int16_t gyroADC[XYZ_AXIS_COUNT];
+int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
 
 static gyroConfig_t *gyroConfig;
 

src/main/sensors/gyro.h

@@ -20,6 +20,9 @@
 extern gyro_t gyro;
 extern sensor_align_e gyroAlign;
 
+extern int16_t gyroADC[XYZ_AXIS_COUNT];
+extern int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT];
+
 typedef struct gyroConfig_s {
     uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
 } gyroConfig_t;

src/main/telemetry/frsky.c

@@ -36,20 +36,28 @@
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/serial.h"
-#include "io/serial.h"
-#include "rx/rx.h"
-#include "io/rc_controls.h"
 
-#include "config/runtime_config.h"
-#include "config/config.h"
 
 #include "sensors/sensors.h"
+#include "sensors/acceleration.h"
 #include "sensors/gyro.h"
 #include "sensors/barometer.h"
 #include "sensors/battery.h"
-#include "flight/flight.h"
+
+#include "io/serial.h"
+#include "io/rc_controls.h"
 #include "io/gps.h"
 
+#include "rx/rx.h"
+
+#include "flight/mixer.h"
+#include "flight/flight.h"
+#include "flight/imu.h"
+#include "flight/altitudehold.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
 #include "telemetry/telemetry.h"
 #include "telemetry/frsky.h"
 

src/main/telemetry/smartport.c

@@ -50,6 +50,7 @@
 #include "flight/mixer.h"
 #include "flight/failsafe.h"
 #include "flight/navigation.h"
+#include "flight/altitudehold.h"
 
 #include "telemetry/telemetry.h"
 #include "telemetry/smartport.h"