From eda23dec19e50b03796e642ae6f2ef22f93fae74 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Wed, 1 Jul 2015 22:07:31 +0200
Subject: [PATCH] [rotorcraft] guidance_h: make some vars private

---
 conf/settings/control/rotorcraft_guidance.xml      |  2 +-
 .../firmwares/rotorcraft/guidance/guidance_h.c     | 14 +++++++++++---
 .../firmwares/rotorcraft/guidance/guidance_h.h     | 10 +---------
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/conf/settings/control/rotorcraft_guidance.xml b/conf/settings/control/rotorcraft_guidance.xml
index 162301c73f4..5181526b5ea 100644
--- a/conf/settings/control/rotorcraft_guidance.xml
+++ b/conf/settings/control/rotorcraft_guidance.xml
@@ -21,7 +21,7 @@
       <dl_setting var="gh_ref.zeta" min="0.7" step="0.05" max="1.0" module="guidance/guidance_h" shortname="zeta" handler="SetZeta" param="GUIDANCE_H_REF_ZETA"/>
       <dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp" param="GUIDANCE_H_PGAIN"/>
       <dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd" param="GUIDANCE_H_DGAIN"/>
-      <dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi" param="GUIDANCE_H_IGAIN"/>
+      <dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="set_igain" param="GUIDANCE_H_IGAIN"/>
       <dl_setting var="guidance_h_vgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kv" param="GUIDANCE_H_VGAIN"/>
       <dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/>
       <dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 89546b75e76..cce9a602fca 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -82,9 +82,6 @@ struct Int32Vect2 guidance_h_accel_ref;
 #if GUIDANCE_H_USE_SPEED_REF
 struct Int32Vect2 guidance_h_speed_sp;
 #endif
-struct Int32Vect2 guidance_h_pos_err;
-struct Int32Vect2 guidance_h_speed_err;
-struct Int32Vect2 guidance_h_trim_att_integrator;
 
 struct Int32Vect2  guidance_h_cmd_earth;
 struct Int32Eulers guidance_h_rc_sp;
@@ -99,6 +96,11 @@ int32_t guidance_h_vgain;
 int32_t transition_percentage;
 int32_t transition_theta_offset;
 
+/* internal variables */
+struct Int32Vect2 guidance_h_pos_err;
+struct Int32Vect2 guidance_h_speed_err;
+struct Int32Vect2 guidance_h_trim_att_integrator;
+
 
 static void guidance_h_update_reference(void);
 static void guidance_h_traj_run(bool_t in_flight);
@@ -587,3 +589,9 @@ static void read_rc_setpoint_speed_i(struct Int32Vect2 *speed_sp, bool_t in_flig
     speed_sp->y = 0;
   }
 }
+
+void guidance_h_set_igain(uint32_t igain)
+{
+  guidance_h_igain = igain;
+  INT_VECT2_ZERO(guidance_h_trim_att_integrator);
+}
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
index 626ae4a7e86..7c0ea444d92 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
@@ -74,11 +74,6 @@ extern struct Int32Vect2 guidance_h_pos_ref;        ///< with #INT32_POS_FRAC
 extern struct Int32Vect2 guidance_h_speed_ref;      ///< with #INT32_SPEED_FRAC
 extern struct Int32Vect2 guidance_h_accel_ref;      ///< with #INT32_ACCEL_FRAC
 
-extern struct Int32Vect2 guidance_h_pos_err;
-extern struct Int32Vect2 guidance_h_speed_err;
-extern struct Int32Vect2 guidance_h_trim_att_integrator;
-
-
 /** horizontal guidance command.
  * In north/east with #INT32_ANGLE_FRAC
  * @todo convert to real force command
@@ -101,11 +96,8 @@ extern void guidance_h_mode_changed(uint8_t new_mode);
 extern void guidance_h_read_rc(bool_t in_flight);
 extern void guidance_h_run(bool_t in_flight);
 
+extern void guidance_h_set_igain(uint32_t igain);
 
-#define guidance_h_SetKi(_val) {            \
-    guidance_h_igain = _val;                \
-    INT_VECT2_ZERO(guidance_h_trim_att_integrator); \
-  }
 
 /* Make sure that ref can only be temporarily disabled for testing,
  * but not enabled if GUIDANCE_H_USE_REF was defined to FALSE.