[rotorcraft] attempt at some cleaner stabilization includes

paparazzi · Oct 28, 2013 · 931cefe · 931cefe
1 parent 13c9f3b
commit 931cefe
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Showing 4 changed files with 4 additions and 6 deletions.
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h
@@ -45,9 +45,6 @@ extern struct Int32Eulers stabilization_att_sum_err;
 extern int32_t stabilization_att_fb_cmd[COMMANDS_NB];
 extern int32_t stabilization_att_ff_cmd[COMMANDS_NB];
 
-// common so it can be used for downlink/debug
-extern struct Int32Eulers stab_att_sp_euler;  ///< with #INT32_ANGLE_FRAC
-
 #define stabilization_attitude_common_int_SetKiPhi(_val) {	\
     stabilization_gains.i.x = _val;             \
     stabilization_att_sum_err.phi = 0;          \

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h
@@ -27,6 +27,4 @@
 
 #include "math/pprz_algebra_int.h"
 
-extern struct Int32Quat   stab_att_sp_quat;   ///< with #INT32_QUAT_FRAC
-
 #endif /* STABILIZATION_ATTITUDE_QUAT_INT_H */
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
@@ -29,8 +29,8 @@
 
 #include "math/pprz_algebra_int.h"
 
+extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC
 extern struct Int32Eulers stab_att_ref_euler; ///< with #REF_ANGLE_FRAC
-extern struct Int32Quat   stab_att_ref_quat;  ///< with #INT32_QUAT_FRAC
 extern struct Int32Rates  stab_att_ref_rate;  ///< with #REF_RATE_FRAC
 extern struct Int32Rates  stab_att_ref_accel; ///< with #REF_ACCEL_FRAC
 

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
@@ -32,6 +32,9 @@
 
 #include "stabilization_attitude_ref_int.h"
 
+extern struct Int32Quat   stab_att_sp_quat;  ///< with #INT32_QUAT_FRAC
+extern struct Int32Quat   stab_att_ref_quat;  ///< with #INT32_QUAT_FRAC
+
 void stabilization_attitude_ref_enter(void);
 
 #endif /* STABILIZATION_ATTITUDE_INT_REF_QUAT_INT_H */