Remove unnecessary include of config_flags.h in test_sensor_axis_mapping.cpp

Author: DanielKusyDev

.claude/prompts/authority-troubleshoot.md

@@ -32,7 +32,6 @@ pio run -t clean
 firmware/
 ├── app/                      # Application layer (7 files)
 │   ├── main.cpp              # Main control loop (~500 Hz)
-│   ├── config_flags.h        # Feature toggles (11 flags for conditional compilation)
 │   ├── config.h/cpp          # All tunable parameters (PID gains, limits, pins)
 │   └── state.h/cpp           # Global state management
 │
@@ -117,22 +116,6 @@ RC Input → Radio → Safety Check → PID (Cascaded) → Mixer → Motors
 - **Packet validation**: Magic bytes, version, CRC-16 verification
 - **Enhanced telemetry**: 7 packet types (ATTITUDE, CONTROL, MOTORS, STATUS, SENSORS, SAFETY, PERFORMANCE) at configurable rates
 
-## Feature Flags (config_flags.h)
-
-Toggle major features at compile time:
-
-```cpp
-CFG_IMU_UNIFIED_MAPPING      // Single axis map for gyro+accel (ON)
-CFG_GROUND_GATE              // Ground detection safety (ON)
-CFG_MOTOR_TEST_SERIAL        // Serial 'T' command motor test (ON)
-CFG_PERFORMANCE_MONITORING   // Real-time profiling (ON)
-CFG_ARM_SAFETY               // ARM logic and failsafe (ALWAYS ON)
-CFG_HORIZON_CHECK            // Pre-ARM horizon validation (ALWAYS ON)
-CFG_LINK_TIMEOUT             // Radio link monitoring (ALWAYS ON)
-```
-
-**Critical**: Never disable `CFG_ARM_SAFETY`, `CFG_HORIZON_CHECK`, or `CFG_LINK_TIMEOUT` - these are safety-critical.
-
 ## Configuration & Tuning
 
 ### PID Tuning (config.h)
@@ -491,8 +474,7 @@ SEN: ACC_CAL: g_mag=0.998, gyro_rms=1.82 - calibration complete
 1. Create header in `firmware/include/module.h` with interface declarations
 2. Implement in `firmware/src/module.cpp`
 3. Include in `main.cpp` and initialize in `setup()`
-4. Add feature flag in `config_flags.h` if optional
-5. Add configuration parameters in `config.h`
+4. Add configuration parameters in `config.h`
 
 ### Adding Debug Logging
 
@@ -520,7 +502,7 @@ Always test safety changes thoroughly in safe environment.
 
 - **Zero heap allocation**: No dynamic memory in main control loop
 - **ISR-safe radio**: Callbacks only touch volatile buffers
-- **Configurable everything**: All parameters centralized in `config.h` and `config_flags.h`
+- **Configurable everything**: All parameters centralized in `config.h`
 - **100% behavioral compatibility**: Refactored from 437-line Arduino sketch while preserving exact flight behavior
 - **Professional diagnostics**: Comprehensive logging, performance monitoring, telemetry
 

CLAUDE.md

@@ -238,3 +238,41 @@ Control Pipeline → Motor Output → Telemetry
 **Next Steps:**
 - Phase 3: Main loop cleanup and conditional compilation simplification
 
+---
+
+### [2025-10-27] Phase 3: Conditional Compilation Cleanup - COMPLETED ✅
+
+**Removed CFG_GROUND_GATE completely:**
+
+Ground safety is now a core feature, always enabled. The conditional compilation added unnecessary complexity for a safety-critical feature.
+
+**Files Modified:**
+
+1. **config_flags.h** - Removed `CFG_GROUND_GATE` definition
+2. **main.cpp** - Removed 4x `#ifdef CFG_GROUND_GATE` blocks
+   - Line 97-102: Setup initialization (removed #else branch)
+   - Line 138-140: Ground update call (removed #ifdef wrapper)
+   - Line 157-163: Safety gates initialization (removed #else fallback)
+   - Line 205-220: Ground control updates (removed #ifdef wrapper)
+3. **ground_safety.h** - Removed `#ifdef CFG_GROUND_GATE` wrapper around entire file
+4. **ground_safety.cpp** - Removed `#ifdef CFG_GROUND_GATE` wrapper around implementation
+
+**Simplified Code:**
+- **Before**: 4 conditional blocks in main.cpp, entire ground_safety module wrapped in #ifdef
+- **After**: Zero conditional compilation for ground safety
+- Ground safety now treated as core safety feature (like ARM_SAFETY, HORIZON_CHECK, LINK_TIMEOUT)
+
+**Build Results:**
+- ✅ SUCCESS (RAM: 13.6%, Flash: 55.5%)
+- No change in memory usage
+- **Zero behavior changes** - ground safety was always enabled anyway
+
+**Rationale:**
+- Ground safety is safety-critical feature
+- Was always enabled by default (CFG_GROUND_GATE = 1)
+- Conditional compilation added complexity without benefit
+- If feature needs to be disabled in future, it can be re-implemented cleanly
+
+**Next Steps:**
+- Phase 3 continuation: Extract remaining magic numbers, simplify loop structure
+

REFACTOR_LOG.md

@@ -17,7 +17,7 @@
 #include "motors.h"
 #include "nvs_cal.h"
 #include "radio.h"
-#include "state.h" // For g_lastPkt
+#include "state.h"  // For g_lastPkt
 #include "telemetry.h"
 #include "types.h"
 
@@ -38,10 +38,7 @@ static SerialInterface g_serial_interface;
 void setup() {
     // System initialization
     Logger::init();
-    LOG_INFO(SYSTEM, "=== Drone Firmware v2.0 - Phase 2 ===");
-    LOG_INFO(SYSTEM, "Feature flags GROUND_GATE=%d", CFG_GROUND_GATE);
-    LOG_INFO(SYSTEM, "Safety flags: ARM=%d, HORIZON=%d, LINK_TIMEOUT=%d", CFG_ARM_SAFETY, CFG_HORIZON_CHECK,
-             CFG_LINK_TIMEOUT);
+    LOG_INFO(SYSTEM, "=== Drone Firmware v2.0 ===");
 
     // Hardware validation
     ASSERT_GPIO_VALID(PIN_M1);
@@ -94,12 +91,8 @@ void setup() {
     g_flight_controller.init();
 
     // Safety initialization
-#ifdef CFG_GROUND_GATE
     ground_init();
     LOG_INFO(SYSTEM, "Ground safety gates enabled");
-#else
-    LOG_INFO(SYSTEM, "Ground safety gates disabled");
-#endif
 
     arm_cal_init();
     LOG_INFO(SYSTEM, "ARM calibration module initialized");
@@ -134,10 +127,7 @@ void loop() {
     // ===== Sensor Fusion =====
     ImuData imu_data;
     imu_read(imu_data);
-
-#ifdef CFG_GROUND_GATE
     ground_update(imu_data, dt);
-#endif
 
     float roll_rate = imu_data.gx_dps;
     float pitch_rate = imu_data.gy_dps;
@@ -154,13 +144,7 @@ void loop() {
     bool cal_valid = imu_has_accel_cal();
 
     SafetyGates gates;
-#ifdef CFG_GROUND_GATE
     ground_get_safety_gates(rc.thr, g_safety_manager.is_armed(), gates);
-#else
-    gates.force_disarm = false;
-    gates.max_throttle_pct = 100;
-    gates.gain_scale = 1.0f;
-#endif
 
     bool prev_armed = g_safety_manager.is_armed();
     g_safety_manager.update(link_alive, arm_flag, dt, horizon_ok, cal_valid, gates.force_disarm);
@@ -215,7 +199,6 @@ void loop() {
     const ArmState &arm_state = g_safety_manager.get_state();
     float base = (arm_state.armed ? rc.thr : 0) * arm_state.armRamp;
 
-#ifdef CFG_GROUND_GATE
     float total_control = fabsf(out_roll) + fabsf(out_pitch) + fabsf(out_yaw);
     ground_update_controls(rc.thr, total_control);
 
@@ -230,7 +213,6 @@ void loop() {
         out_pitch *= gates.gain_scale;
         out_yaw *= gates.gain_scale;
     }
-#endif
 
     MixOut mix_out;
     float idle_floor = (DUTY_MIN_IDLE * 1000.0f) / 1023.0f;

docs/ARCHITECTURE.md

@@ -1,7 +1,4 @@
 #include "ground_safety.h"
-
-#ifdef CFG_GROUND_GATE
-
 #include "config.h"
 #include "../../platform/arduino/log.h"
 #include <math.h>
@@ -240,5 +237,3 @@ void ground_get_safety_gates(int throttle, bool armed, SafetyGates& gates) {
     LOG_TRACE(SAFETY, "Safety gates: max_thr=%.0f%% gain=%.1f force_disarm=%d",
               gates.max_throttle_pct, gates.gain_scale, gates.force_disarm);
 }
-
-#endif // CFG_GROUND_GATE

firmware/app/config_flags.h

@@ -1,9 +1,5 @@
 #pragma once
 
-#include "config_flags.h"
-
-#ifdef CFG_GROUND_GATE
-
 #include "types.h"
 
 // ===== Ground Detection and Safety Gates =====
@@ -56,5 +52,4 @@ void ground_update_controls(int throttle, float total_control_input);
 const GroundDetection& ground_get_state();
 
 // Get safety gates based on ground state
-void ground_get_safety_gates(int throttle, bool armed, SafetyGates& gates);
-#endif // CFG_GROUND_GATE
+void ground_get_safety_gates(int throttle, bool armed, SafetyGates& gates);

firmware/app/main.cpp

@@ -1,7 +1,5 @@
 #pragma once
 
-#include "config_flags.h"
-
 
 // ===== IMU Unified Axis Mapping System =====
 // Professional IMU orientation handling with configurable mappings

firmware/core/control/ground_safety.cpp

@@ -3,7 +3,6 @@
 #include "../../core/sensor/imu_processing.h"
 #include "../../core/control/accel_cal_validation.h"  // For accel_cal_validate()
 #include "config.h"
-#include "config_flags.h"
 #include "../../core/utils/logger.h"
 #include "nvs_cal.h"
 #include "config.h"