Global variables cleanups

Remove unused PID objects for cli Move loopRate to time.ino
okalachev · Jan 10, 2025 · 698cc3d · 698cc3d
1 parent 85172cd
commit 698cc3d
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Showing 4 changed files with 3 additions and 4 deletions.
diff --git a/flix/cli.ino b/flix/cli.ino
@@ -6,9 +6,8 @@
 #include "pid.h"
 #include "vector.h"
 
-extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
-extern LowPassFilter<Vector> ratesFilter;
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+extern float loopRate;
 
 const char* motd =
 "\nWelcome to\n"

diff --git a/flix/flix.ino b/flix/flix.ino
@@ -20,7 +20,6 @@
 
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-float loopRate; // loop rate, Hz
 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

diff --git a/flix/time.ino b/flix/time.ino
@@ -3,6 +3,8 @@
 
 // Time related functions
 
+float loopRate; // Hz
+
 void step() {
 	float now = micros() / 1000000.0;
 	dt = now - t;

diff --git a/gazebo/flix.h b/gazebo/flix.h
@@ -15,7 +15,6 @@
 
 float t = NAN;
 float dt;
-float loopRate;
 float motors[4];
 int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS];