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Move all global variable declarations to the appropriate subsystems

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As it makes the subsystems code easier to understand.
Declare the most used variables in main sketch file as forward declarations.
Make all control input zero by default (except controlMode).
Minor changes.
This commit is contained in:
Oleg Kalachev
2026-01-03 13:28:18 +03:00
parent a5e3dfcf69
commit c8e5e08b03
10 changed files with 42 additions and 36 deletions
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21
gazebo/flix.h
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@@ -12,17 +12,15 @@
#define WIFI_ENABLED 1
float t = NAN;
float dt;
float motors[4];
float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
float controlMode = NAN;
Vector acc;
Vector gyro;
Vector rates;
Quaternion attitude;
bool landed;
Vector imuRotation;
extern float t, dt;
extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
extern Vector rates;
extern Quaternion attitude;
extern bool landed;
extern float motors[4];
Vector gyro, acc, imuRotation;
Vector accBias, gyroBias, accScale(1, 1, 1);
// declarations
void step();
@@ -75,4 +73,3 @@ void calibrateAccel() { print("Skip accel calibrating\n"); };
void printIMUCalibration() { print("cal: N/A\n"); };
void printIMUInfo() {};
void printWiFiInfo() {};
Vector accBias, gyroBias, accScale(1, 1, 1);