From 28f5855a57ef9f4993f936364d976964f6670621 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 13 Jan 2026 17:43:53 +0300
Subject: [PATCH] Re-arrange control.ino declarations to make a bit more
 sensible So the control command is above the PID controllers.

---
 flix/control.ino | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/flix/control.ino b/flix/control.ino
index 9018630..8f6d8e6 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -38,6 +38,12 @@ const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
 int mode = STAB;
 bool armed = false;
 
+Quaternion attitudeTarget;
+Vector ratesTarget;
+Vector ratesExtra; // feedforward rates
+Vector torqueTarget;
+float thrustTarget;
+
 PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);
 PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D_LPF_ALPHA);
 PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D);
@@ -47,12 +53,6 @@ PID yawPID(YAW_P, 0, 0);
 Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
 float tiltMax = TILT_MAX;
 
-Quaternion attitudeTarget;
-Vector ratesTarget;
-Vector ratesExtra; // feedforward rates
-Vector torqueTarget;
-float thrustTarget;
-
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;