Imported from pacman314159/OISP-Drone-Research (firmware/FC_v01/.agents/AGENTS.md). Install upstream with npx skills add pacman314159/OISP-Drone-Research --skill .agents. Copyright stays with the author.

Coding Conventions & Architecture Rules

1. Naming Conventions

• Variables & Functions: snake_case (e.g., uint32_t loop_counter, void calculate_pid())
• Classes & Structs: PascalCase (e.g., class PIDController, struct IMUData)
• Constants & Enums: ALL_CAPS_SNAKE (e.g., MAX_MOTOR_COUNT, TASK_PRIORITY_HIGH)
• Header Files: .hpp for C++, .h for C/HAL interfaces.

2. Embedded Real-Time Constraints

• Zero Dynamic Allocation: No malloc(), free(), new, or delete inside flight loops.
• Explicit Units: All physical variables must explicitly state units via comments at declaration or documentation (e.g., int16_t gyro; // LSB, float accel; // m/s^2, float temp; // degree C).

3. Indentation

• Indentation level: 1 level corresponds with 2 spaces (1 tab)

5. Coding Style & Bracing Conventions

• Single-Line Control Flow Bracing: If an if, else, while, for, or switch statement contains only 1 statement/line inside its body (including nested single-statement control flows), omit the curly braces {}. (e.g., if(condition) return false;, for(uint8_t j = 0; j < N; ++j) sum += a[j];).
• Function Declaration Bracing: Functions and method bodies must have NO space between the closing parenthesis ) and opening brace { (e.g., bool empty(){ instead of bool empty() {).
• Control Flow Keyword & Opening Brace Spacing: Control flow statements (if, while, for, switch) must have NO space between the keyword and opening parenthesis (, and NO space between the closing parenthesis ) and opening brace { (e.g., if(condition){ instead of if (condition) {, while(true){ instead of while (true) {).
• else Keyword Spacing: else statements attached to closing braces must have NO space around else (e.g., }else{ instead of } else {, }else if(condition){ instead of } else if (condition) {).
• Namespace Indentation: Everything declared/defined inside a namespace block (namespace hal_simd { ... }) must be indented by 1 level (2 spaces).