diff --git a/src/boards/Parafoil/Actuators/Actuators.h b/src/boards/Parafoil/Actuators/Actuators.h index dca587a95430a4726236d37dc31b993f16733366..afbb371fe66eafe2f24c5eb6a43289850abca61f 100644 --- a/src/boards/Parafoil/Actuators/Actuators.h +++ b/src/boards/Parafoil/Actuators/Actuators.h @@ -24,7 +24,6 @@ #include <actuators/Servo/Servo.h> #include <common/Mavlink.h> -#include <interfaces/gpio.h> #include <scheduler/TaskScheduler.h> #include <utils/ModuleManager/ModuleManager.hpp> @@ -118,7 +117,6 @@ private: // mutexes miosix::FastMutex leftServoMutex; miosix::FastMutex rightServoMutex; - miosix::FastMutex rocketSignalingStateMutex; }; } // namespace Parafoil diff --git a/src/boards/Parafoil/Configs/ActuatorsConfigs.h b/src/boards/Parafoil/Configs/ActuatorsConfigs.h index 6a1c53675cafa9d96fcbd199f6e0da08c4b41158..04c0a6375abae90600918c1b78aa3d61012ee735 100644 --- a/src/boards/Parafoil/Configs/ActuatorsConfigs.h +++ b/src/boards/Parafoil/Configs/ActuatorsConfigs.h @@ -25,6 +25,8 @@ #include <drivers/timer/PWM.h> #include <drivers/timer/TimerUtils.h> +#include "WingConfig.h" + namespace Parafoil { @@ -52,7 +54,7 @@ constexpr float RIGHT_SERVO_MIN_PULSE = 500; // [us] constexpr float RIGHT_SERVO_MAX_PULSE = 2500; // [us] // Parafoil twirl -constexpr float SERVO_TWIRL_RADIUS = 0.75; // [%] +constexpr float SERVO_TWIRL_RADIUS = WingConfig::MAX_SERVO_APERTURE; // [%] } // namespace ActuatorsConfigs diff --git a/src/boards/Parafoil/Configs/SensorsConfig.h b/src/boards/Parafoil/Configs/SensorsConfig.h index 8b573793b7716a6af5733e4f697b3b5c5c455bdc..cfcb84b335e464a59b5e161d4c1248716746841a 100644 --- a/src/boards/Parafoil/Configs/SensorsConfig.h +++ b/src/boards/Parafoil/Configs/SensorsConfig.h @@ -22,8 +22,6 @@ #pragma once #include <drivers/adc/InternalADC.h> -#include <drivers/usart/USART.h> -#include <interfaces-impl/hwmapping.h> #include <sensors/ADS131M08/ADS131M08Defs.h> #include <sensors/BMX160/BMX160Config.h> #include <sensors/H3LIS331DL/H3LIS331DL.h>