Clean up

Makefile

@@ -13,6 +13,7 @@ ifeq ($(BOARD), typec)
 	BOARD_C_DEF = STM32F407xx
 endif
 
+# TODO: Type A board is not tested yet
 ifeq ($(BOARD), typea)
 	STARTUP_POSTFIX = stm32f407xx
 	LINK_SCRIPT_PREFIX = STM32F407IGHx

src/app/inc/robot.h

@@ -25,6 +25,8 @@ typedef struct {
   uint8_t prev_left_switch;
 } Key_Prev_t;
 
+extern Robot_State_t g_robot_state;
+
 void Robot_Init(void);
 void Robot_Ctrl_Loop(void);
 

src/app/src/gimbal_task.c

@@ -6,11 +6,8 @@
 #include "user_math.h"
 #include "jetson_orin.h"
 #include <math.h>
-extern Robot_State_t g_robot_state;
-extern Remote_t g_remote;
-extern IMU_t g_imu;
-float gimbal_test = 0;
-uint64_t t = 0;
+
+
 DJI_Motor_Handle_t *g_yaw, *g_pitch;
 Gimbal_Target_t g_gimbal_target;
 PID_t autoaim_yaw_angle_pid = {

src/app/src/robot.c

@@ -24,7 +24,6 @@ extern DJI_Motor_Handle_t *g_yaw;
 Robot_State_t g_robot_state = {0, 0};
 Key_Prev_t g_key_prev = {0};
 extern Launch_Target_t g_launch_target;
-extern Remote_t g_remote;
 
 uint8_t g_start_safely = 0;