Make dt=0 on first step, simplify code

gazebo/Arduino.h

@@ -13,10 +13,6 @@
 #include <unistd.h>
 #include <sys/poll.h>
 
-using std::max;
-using std::min;
-using std::isfinite;
-
 #define PI 3.1415926535897932384626433832795
 #define DEG_TO_RAD 0.017453292519943295769236907684886
 #define RAD_TO_DEG 57.295779513082320876798154814105

gazebo/flix.h

@@ -7,6 +7,7 @@
 #include <stdio.h>
 #include "vector.h"
 #include "quaternion.h"
+#include "Arduino.h"
 
 #define RC_CHANNELS 6
 
@@ -15,7 +16,7 @@
 #define MOTOR_FRONT_RIGHT 2
 #define MOTOR_REAR_RIGHT 1
 
-float t;
+float t = NAN;
 float dt;
 float loopFreq;
 float motors[4];
@@ -27,6 +28,9 @@ Quaternion attitude;
 
 // declarations
 void computeLoopFreq();
+void applyGyro();
+void applyAcc();
+void signalizeHorizontality();
 void control();
 void interpretRC();
 static void controlAttitude();