Refactoring

[alphaville]

Main Changes

• average initial attitude computed in ahrs (see averageQuaternion)
• new method in motor driver
• new method in radio
• logSerial, setupBuzzer, buzz and waitForPiSerial go to util
• delete config.cpp
• change all Serial.print to logSerial
• deactivate all printing while flying
• rename BZZZ_VERBOSITY to BZZZ_LOGGING_LEVEL

Associated Issues

• Closes #41

DevOps

Before we merge this:

• We should merge #44 into dev first
• Then merge dev into feature/41-tidy-up-main
• And then move initAngularVelocity to AHRS (as we've done with averageQuaternion here)

[alphaville]

@jamie-54 can you have a look and make sure that everything makes sense and that it works on the quadcopter? I haven't really changed any functionality; I just reorganised the code.

[jamie-54]

Hi looks good and everything makes sense I'll test it on the hardware tomorrow just to be sure.

Just wondering do you want to keep setGainsFromRcTrimmers in the main.cpp or move it somewhere else? I get that it doesn't really have a clear file that it belongs to.

[alphaville]

@jamie-54 this actually is part of the loop. I just moved this functionality to setGainsFromRcTrimmers for loop to be more readable. I don't think it belongs to another file.

[jamie-54]

@jamie-54 this actually is part of the loop. I just moved this functionality to setGainsFromRcTrimmers for loop to be more readable. I don't think it belongs to another file.

Oh yea I see what's happening now, looks good

[alphaville]

@jamie-54 I'm merging this now, but can you check whether everything still works (it should). I've made some very minor changes (see last commit).

[jamie-54]

@jamie-54 I'm merging this now, but can you check whether everything still works (it should). I've made some very minor changes (see last commit).

No problem