Make util module header instead of .ino-file

flix/control.ino

@@ -7,6 +7,7 @@
 #include "quaternion.h"
 #include "pid.h"
 #include "lpf.h"
+#include "util.h"
 
 #define PITCHRATE_P 0.05
 #define PITCHRATE_I 0.2

flix/estimate.ino

@@ -6,12 +6,12 @@
 #include "quaternion.h"
 #include "vector.h"
 #include "lpf.h"
+#include "util.h"
 
 #define WEIGHT_ACC 0.5f
 #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
 
 LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
-extern const float ONE_G;
 
 void estimate() {
 	applyGyro();

flix/flix.ino

@@ -5,6 +5,7 @@
 
 #include "vector.h"
 #include "quaternion.h"
+#include "util.h"
 
 #define SERIAL_BAUDRATE 115200
 #define WIFI_ENABLED 1

flix/imu.ino

@@ -5,6 +5,7 @@
 
 #include <SPI.h>
 #include <MPU9250.h>
+#include "util.h"
 
 MPU9250 IMU(SPI);
 
@@ -12,8 +13,6 @@ Vector accBias;
 Vector gyroBias;
 Vector accScale(1, 1, 1);
 
-extern const float ONE_G;
-
 void setupIMU() {
 	Serial.println("Setup IMU");
 	bool status = IMU.begin();

flix/motors.ino

@@ -4,6 +4,8 @@
 // Motors output control using MOSFETs
 // In case of using ESCs, change PWM_MIN and PWM_MAX definitions to appropriate values in μs
 
+#include "util.h"
+
 #define MOTOR_0_PIN 12 // rear left
 #define MOTOR_1_PIN 13 // rear right
 #define MOTOR_2_PIN 14 // front right

flix/rc.ino

@@ -4,6 +4,7 @@
 // Work with the RC receiver
 
 #include <SBUS.h>
+#include "util.h"
 
 float channelNeutral[RC_CHANNELS] = {NAN}; // first element NAN means not calibrated
 float channelMax[RC_CHANNELS];

flix/util.h

@@ -3,6 +3,8 @@
 
 // Utility functions
 
+#pragma once
+
 #include <math.h>
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>