From 5530ad29810602d4427e99ea9c43f2c302a8ea29 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 10 Jan 2025 07:15:15 +0300
Subject: [PATCH] Move loopRate to time.ino

---
 flix/cli.ino  | 1 +
 flix/flix.ino | 1 -
 flix/time.ino | 2 ++
 gazebo/flix.h | 1 -
 4 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/flix/cli.ino b/flix/cli.ino
index 6df9ea8..8c9ffcd 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -9,6 +9,7 @@
 extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
 extern LowPassFilter<Vector> ratesFilter;
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+extern float loopRate;
 
 const char* motd =
 "\nWelcome to\n"
diff --git a/flix/flix.ino b/flix/flix.ino
index 9bacfa9..83a8d2f 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -21,7 +21,6 @@
 
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-float loopRate; // loop rate, Hz
 int16_t channels[RC_CHANNELS]; // raw rc channels
 float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
 float controlsTime; // time of the last controls update
diff --git a/flix/time.ino b/flix/time.ino
index da9f1c8..b57b5bc 100644
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -3,6 +3,8 @@
 
 // Time related functions
 
+float loopRate; // Hz
+
 void step() {
 	float now = micros() / 1000000.0;
 	dt = now - t;
diff --git a/gazebo/flix.h b/gazebo/flix.h
index ea4c345..a0d865f 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -15,7 +15,6 @@
 
 float t = NAN;
 float dt;
-float loopRate;
 float motors[4];
 int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS];