From 12366700bf76d289a59f76acde3adcccfe7576e6 Mon Sep 17 00:00:00 2001
From: Kristoffer Richardsson <kristoffer@bitcraze.io>
Date: Tue, 10 Nov 2020 12:00:24 +0100
Subject: [PATCH] #641 Refactoring, removed forward declaration

---
 src/modules/interface/stabilizer_types.h                | 5 ++---
 src/utils/interface/lighthouse/lighthouse_calibration.h | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/modules/interface/stabilizer_types.h b/src/modules/interface/stabilizer_types.h
index ccfb122f1d..9f17b681fd 100644
--- 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
index e39756de94..0b88e02265 100644
--- 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;