changed include/interface to a submodule

rosflight · Nov 21, 2024 · c861d44 · c861d44
1 parent 45a7296
commit c861d44
Show file tree

Hide file tree

Showing 16 changed files with 22 additions and 539 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "boards/varmint_h7"]
 	path = boards/varmint_h7
 	url = https://github.com/rosflight/varmint_h7.git
+[submodule "include/interfaces"]
+	path = include/interface
+	url = [email protected]:rosflight/rosflight_firmware-board-common.git
diff --git a/boards/varmint_h7 b/boards/varmint_h7
diff --git a/include/board.h b/include/board.h
diff --git a/include/comm_manager.h b/include/comm_manager.h
@@ -33,7 +33,7 @@
 #define ROSFLIGHT_FIRMWARE_COMM_MANAGER_H
 
 #include "interface/comm_link.h"
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include <stdarg.h>
 #include <stdio.h>

diff --git a/include/command_manager.h b/include/command_manager.h
@@ -32,7 +32,7 @@
 #ifndef ROSFLIGHT_FIRMWARE_COMMAND_MANAGER_H
 #define ROSFLIGHT_FIRMWARE_COMMAND_MANAGER_H
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include "rc.h"
 

diff --git a/include/controller.h b/include/controller.h
@@ -32,7 +32,7 @@
 #ifndef ROSFLIGHT_FIRMWARE_CONTROLLER_H
 #define ROSFLIGHT_FIRMWARE_CONTROLLER_H
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include "command_manager.h"
 #include "estimator.h"

diff --git a/include/estimator.h b/include/estimator.h
@@ -32,24 +32,20 @@
 #ifndef ROSFLIGHT_FIRMWARE_ESTIMATOR_H
 #define ROSFLIGHT_FIRMWARE_ESTIMATOR_H
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include <turbomath/turbomath.h>
 
 #include <cmath>
 #include <cstdbool>
 #include <cstdint>
 
+#include <rosflight_structs.h>
+
 namespace rosflight_firmware
 {
 class ROSflight;
 
-  typedef struct //__attribute__((__packed__))
-  {
-    uint64_t timestamp; // us, time of data read complete
-    float q[4];         // quaternions
-    float rate[3];
-  } AttitudeStruct;
 
 class Estimator : public ParamListenerInterface
 {

diff --git a/include/interface b/include/interface
+4 −1		common/CMakeLists.txt
+130 −209		test/board.h
+0 −127		test/estimator.h
+0 −47		test/interface/param_listener.h
+0 −129		test/rc.h
+36 −123		test/rosflight_structs.h
+0 −133		test/turbomath/turbomath.h