From 5bf2e06c5a5bb873a2caefe49d93deac3341fd10 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Feb 2025 19:06:58 +0300
Subject: [PATCH] Use natural order of ino files includes in simulation In
 Arduino, ino files are included in alphabetical order. Cleanup unused
 function declarations in simulation, add missing. Rename flu to frd function
 to match the code style.

---
 flix/mavlink.ino     |  4 ++--
 gazebo/flix.h        | 17 ++++++++++++++---
 gazebo/simulator.cpp | 19 ++++++++++---------
 3 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index c1d9d81..c4e910d 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -43,7 +43,7 @@ void sendMavlink() {
 		lastFast = t;
 
 		const float zeroQuat[] = {0, 0, 0, 0};
-		Quaternion attitudeFRD = FLU2FRD(attitude); // MAVLink uses FRD coordinate system
+		Quaternion attitudeFRD = fluToFrd(attitude); // MAVLink uses FRD coordinate system
 		mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
 			time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
 		sendMessage(&msg);
@@ -206,7 +206,7 @@ void mavlinkPrint(const char* str) {
 }
 
 // Convert Forward-Left-Up to Forward-Right-Down quaternion
-inline Quaternion FLU2FRD(const Quaternion &q) {
+inline Quaternion fluToFrd(const Quaternion &q) {
 	return Quaternion(q.w, q.x, -q.y, -q.z);
 }
 
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 0d4c24d..d5b37eb 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -23,6 +23,7 @@ Vector rates;
 Quaternion attitude;
 
 // declarations
+void step();
 void computeLoopRate();
 void applyGyro();
 void applyAcc();
@@ -31,25 +32,35 @@ void interpretRC();
 void controlAttitude();
 void controlRate();
 void controlTorque();
-void showTable();
+const char* getModeName();
 void sendMotors();
 bool motorsActive();
+void testMotor(uint8_t n);
 void print(const char* format, ...);
 void doCommand(String str, bool echo);
-void cliTestMotor(uint8_t n);
+void handleInput();
+void calibrateRC();
 void normalizeRC();
 void printRCCal();
+void dumpLog();
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);
 void receiveMavlink();
 void handleMavlink(const void *_msg);
 void mavlinkPrint(const char* str);
+inline Quaternion fluToFrd(const Quaternion &q);
 void failsafe();
 void armingFailsafe();
 void rcLossFailsafe();
 void descend();
-inline Quaternion FLU2FRD(const Quaternion &q);
+int parametersCount();
+const char *getParameterName(int index);
+float getParameter(int index);
+float getParameter(const char *name);
+bool setParameter(const char *name, const float value);
+void printParameters();
+void resetParameters();
 
 // mocks
 void setLED(bool on) {};
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
index 5986343..bcfa4ef 100644
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -17,17 +17,18 @@
 
 #include "Arduino.h"
 #include "flix.h"
+
+#include "cli.ino"
+#include "control.ino"
+#include "estimate.ino"
+#include "failsafe.ino"
+#include "log.ino"
+#include "lpf.h"
+#include "mavlink.ino"
+#include "motors.ino"
+#include "parameters.ino"
 #include "rc.ino"
 #include "time.ino"
-#include "motors.ino"
-#include "estimate.ino"
-#include "control.ino"
-#include "log.ino"
-#include "parameters.ino"
-#include "cli.ino"
-#include "mavlink.ino"
-#include "failsafe.ino"
-#include "lpf.h"
 
 using ignition::math::Vector3d;
 using namespace gazebo;