From 03c6576b7235b0d3e634172d4017402826b066b5 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 11 Jan 2025 00:28:31 +0300
Subject: [PATCH] Move controlsTime variable to rc.ino

---
 flix/failsafe.ino | 2 ++
 flix/flix.ino     | 1 -
 flix/mavlink.ino  | 2 ++
 flix/rc.ino       | 1 +
 gazebo/flix.h     | 1 -
 5 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/flix/failsafe.ino b/flix/failsafe.ino
index 7ddfa65..eab6ee5 100644
--- a/flix/failsafe.ino
+++ b/flix/failsafe.ino
@@ -6,6 +6,8 @@
 #define RC_LOSS_TIMEOUT 0.2
 #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
 
+extern float controlsTime;
+
 void failsafe() {
 	if (t - controlsTime > RC_LOSS_TIMEOUT) {
 		descend();
diff --git a/flix/flix.ino b/flix/flix.ino
index 846eaea..2b2332c 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -22,7 +22,6 @@ float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
 int16_t channels[RC_CHANNELS]; // raw rc channels
 float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
-float controlsTime; // time of the last controls update
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 3bf73a1..3304f25 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -13,6 +13,8 @@
 #define MAVLINK_CONTROL_SCALE 0.7f
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
 
+extern float controlsTime;
+
 void processMavlink() {
 	sendMavlink();
 	receiveMavlink();
diff --git a/flix/rc.ino b/flix/rc.ino
index 34fd3d4..8cf8e5c 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -9,6 +9,7 @@
 // NOTE: use 'cr' command to calibrate the RC and put the values here
 int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+float controlsTime; // time of the last controls update
 
 SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
 
diff --git a/gazebo/flix.h b/gazebo/flix.h
index a0d865f..3f2f994 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -18,7 +18,6 @@ float dt;
 float motors[4];
 int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS];
-float controlsTime;
 Vector acc;
 Vector gyro;
 Vector rates;