#641 Refactoring, removed forward declaration

bitcraze · Nov 10, 2020 · 1236670 · 1236670
1 parent 463110b
commit 1236670
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/src/modules/interface/stabilizer_types.h b/src/modules/interface/stabilizer_types.h
@@ -29,6 +29,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "imu_types.h"
+#include "lighthouse_calibration.h"
 
 /* Data structure used by the stabilizer subsystem.
  * All have a timestamp to be set when the data is calculated.
@@ -245,8 +246,6 @@ typedef struct {
 } yawErrorMeasurement_t;
 
 /** Sweep angle measurement */
-// Forward declaration of lighthouse struct to avoid dependency.
-struct lighthouseCalibrationAxis_s;
 typedef struct {
   uint32_t timestamp;
   vec3d* sensorPos;          // Sensor position in the CF reference frame
@@ -257,7 +256,7 @@ typedef struct {
   float measuredSweepAngle;
   float stdDev;
   int baseStationType;       // Cast to lighthouseBaseStationType_t enum.
-  const struct lighthouseCalibrationAxis_s* calib;
+  const lighthouseCalibrationAxis_t* calib;
 } sweepAngleMeasurement_t;
 
 // Frequencies to bo used with the RATE_DO_EXECUTE_HZ macro. Do NOT use an arbitrary number.

diff --git a/src/utils/interface/lighthouse/lighthouse_calibration.h b/src/utils/interface/lighthouse/lighthouse_calibration.h
@@ -2,7 +2,7 @@
 
 #include "ootx_decoder.h"
 
-typedef struct lighthouseCalibrationAxis_s {
+typedef struct {
   float phase;
   float tilt;
   float curve;