NuttX carry minimal c++ cmath (replacing Matrix stdlib_imports.hpp)

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp

@@ -41,6 +41,8 @@
 
 #pragma once
 
+#include <cstdint>
+
 #include <matrix/matrix/math.hpp>
 
 enum class AllocationMethod {

src/modules/ekf2/EKF/common.h

@@ -42,6 +42,8 @@
 #ifndef EKF_COMMON_H
 #define EKF_COMMON_H
 
+#include <cstdint>
+
 #include <matrix/math.hpp>
 
 namespace estimator

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -784,7 +784,7 @@ bool FlightTaskAuto::isTargetModified() const
 {
 	const bool xy_modified = (_target - _position_setpoint).xy().longerThan(FLT_EPSILON);
 	const bool z_valid = PX4_ISFINITE(_position_setpoint(2));
-	const bool z_modified =  z_valid && fabs((_target - _position_setpoint)(2)) > FLT_EPSILON;
+	const bool z_modified =  z_valid && std::fabs((_target - _position_setpoint)(2)) > FLT_EPSILON;
 
 	return xy_modified || z_modified;
 }

src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp

@@ -97,7 +97,7 @@ matrix::Vector3f AttitudeControl::update(const Quatf &q) const
 	// and multiply it by the yaw setpoint rate (yawspeed_setpoint).
 	// This yields a vector representing the commanded rotatation around the world z-axis expressed in the body frame
 	// such that it can be added to the rates setpoint.
-	if (is_finite(_yawspeed_setpoint)) {
+	if (std::isfinite(_yawspeed_setpoint)) {
 		rate_setpoint += q.inversed().dcm_z() * _yawspeed_setpoint;
 	}
 

src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp

@@ -31,6 +31,8 @@
  *
  ****************************************************************************/
 
+#include <cmath>
+
 #include <gtest/gtest.h>
 #include <ControlMath.hpp>
 #include <px4_platform_common/defines.h>
@@ -249,7 +251,7 @@ TEST(ControlMathTest, addIfNotNan)
 	v = NAN;
 	// both summands are NAN
 	ControlMath::addIfNotNan(v, NAN);
-	EXPECT_TRUE(isnan(v));
+	EXPECT_TRUE(std::isnan(v));
 	// regular value gets added to NAN and overwrites it
 	ControlMath::addIfNotNan(v, 3.f);
 	EXPECT_EQ(v, 3.f);