From 7533a9cbfade68e3404a5ce7ef48e0b5778c3c00 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Mon, 23 Dec 2024 02:37:03 +0300
Subject: [PATCH] Move ONE_G definition to flix.ino

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

diff --git a/flix/estimate.ino b/flix/estimate.ino
index cf63ee3..b0fae96 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -7,7 +7,6 @@
 #include "vector.h"
 #include "lpf.h"
 
-#define ONE_G 9.807f
 #define WEIGHT_ACC 0.5f
 #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
 
diff --git a/flix/flix.ino b/flix/flix.ino
index dea10d9..34335c2 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -23,6 +23,8 @@
 #define MOTOR_FRONT_RIGHT 2
 #define MOTOR_FRONT_LEFT 3
 
+#define ONE_G 9.80665
+
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
 float loopRate; // loop rate, Hz
diff --git a/flix/imu.ino b/flix/imu.ino
index e9d9969..5475e9e 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -6,8 +6,6 @@
 #include <SPI.h>
 #include <MPU9250.h>
 
-#define ONE_G 9.80665
-
 // NOTE: use 'ca' command to calibrate the accelerometer and put the values here
 Vector accBias(0, 0, 0);
 Vector accScale(1, 1, 1);
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 72787f5..26cbbec 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -19,6 +19,8 @@
 
 #define WIFI_ENABLED 1
 
+#define ONE_G 9.80665
+
 float t = NAN;
 float dt;
 float loopRate;