From fc022b683eed71da4c5f4a67d559c64600aa4d54 Mon Sep 17 00:00:00 2001
From: LAMBERT des CILLEULS Charles <charles.lambert-des-cilleuls@loria.fr>
Date: Thu, 4 Jan 2024 13:36:21 +0100
Subject: [PATCH] moving some physical constants so they can be config
 dependants

---
 src/modules/src/controller/controller_brescianini.c |  1 +
 src/modules/src/controller/controller_mellinger.c   |  1 +
 src/modules/src/power_distribution_quadrotor.c      |  3 ++-
 src/platform/interface/platform_defaults.h          | 10 ++++++++++
 src/utils/interface/physicalConstants.h             |  4 ----
 5 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/src/modules/src/controller/controller_brescianini.c b/src/modules/src/controller/controller_brescianini.c
index d17d97ab6b..905f9ba300 100644
--- a/src/modules/src/controller/controller_brescianini.c
+++ b/src/modules/src/controller/controller_brescianini.c
@@ -38,6 +38,7 @@
 #include "num.h"
 #include "math3d.h"
 #include "physicalConstants.h"
+#include "platform_defaults.h"
 
 static struct mat33 CRAZYFLIE_INERTIA =
     {{{16.6e-6f, 0.83e-6f, 0.72e-6f},
diff --git a/src/modules/src/controller/controller_mellinger.c b/src/modules/src/controller/controller_mellinger.c
index f15f5e41c0..40bc2c285f 100644
--- a/src/modules/src/controller/controller_mellinger.c
+++ b/src/modules/src/controller/controller_mellinger.c
@@ -42,6 +42,7 @@ We added the following:
 #include "position_controller.h"
 #include "controller_mellinger.h"
 #include "physicalConstants.h"
+#include "platform_defaults.h"
 
 // Global state variable used in the
 // firmware as the only instance and in bindings
diff --git a/src/modules/src/power_distribution_quadrotor.c b/src/modules/src/power_distribution_quadrotor.c
index c34de07d41..0f3a9d046e 100644
--- a/src/modules/src/power_distribution_quadrotor.c
+++ b/src/modules/src/power_distribution_quadrotor.c
@@ -33,6 +33,7 @@
 #include "autoconf.h"
 #include "config.h"
 #include "math.h"
+#include "platform_defaults.h"
 
 #ifndef CONFIG_MOTORS_DEFAULT_IDLE_THRUST
 #  define DEFAULT_IDLE_THRUST 0
@@ -41,7 +42,7 @@
 #endif
 
 static uint32_t idleThrust = DEFAULT_IDLE_THRUST;
-static float armLength = 0.046f; // m;
+static float armLength = ARM_LENGTH; // m
 static float thrustToTorque = 0.005964552f;
 
 // thrust = a * pwm^2 + b * pwm
diff --git a/src/platform/interface/platform_defaults.h b/src/platform/interface/platform_defaults.h
index af8d5d0f86..0ef68e2a2a 100644
--- a/src/platform/interface/platform_defaults.h
+++ b/src/platform/interface/platform_defaults.h
@@ -44,6 +44,16 @@
     #include "platform_defaults_flapper.h"
 #endif
 
+// Drone physical constants
+#ifndef ARM_LENGTH
+    // m
+    #define ARM_LENGTH  0.046f
+#endif
+#ifndef CF_MASS
+    // kg
+    #define CF_MASS     0.027f
+#endif
+
 // IMU alignment on the airframe 
 #ifndef IMU_PHI
     #define IMU_PHI     0.0f
diff --git a/src/utils/interface/physicalConstants.h b/src/utils/interface/physicalConstants.h
index 7b94316ce4..d107c25b3e 100644
--- a/src/utils/interface/physicalConstants.h
+++ b/src/utils/interface/physicalConstants.h
@@ -47,7 +47,3 @@
 #ifndef ARCMINUTE
   #define ARCMINUTE (M_PI_F / 10800.0f)
 #endif
-
-#ifndef CF_MASS
-  #define CF_MASS (0.027f) // in kg
-#endif