Move controlsTime variable to rc.ino

flix/failsafe.ino

@@ -6,6 +6,7 @@
 #define RC_LOSS_TIMEOUT 0.2
 #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
 
+extern float controlsTime;
 extern int rollChannel, pitchChannel, throttleChannel, yawChannel;
 
 void failsafe() {

flix/flix.ino

@@ -14,7 +14,6 @@ float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
 int16_t channels[16]; // raw rc channels
 float controls[16]; // 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

flix/mavlink.ino

@@ -13,6 +13,7 @@
 #define MAVLINK_CONTROL_SCALE 0.7f
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
 
+extern float controlsTime;
 extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
 
 void processMavlink() {

flix/rc.ino

@@ -14,6 +14,7 @@ int yawChannel = 3;
 int armedChannel = 4;
 int modeChannel = 5;
 
+float controlsTime; // time of the last controls update
 float channelNeutral[16] = {NAN}; // first element NAN means not calibrated
 float channelMax[16];
 

gazebo/flix.h

@@ -18,7 +18,6 @@ float dt;
 float motors[4];
 int16_t channels[16]; // raw rc channels
 float controls[16];
-float controlsTime;
 Vector acc;
 Vector gyro;
 Vector rates;