remove all <cmath> usage

* the NuttX c++ library is incomplete, let's avoid including it until we have a real standard library in place

platforms/nuttx/src/px4/nxp/kinetis/tone_alarm/ToneAlarmInterface.cpp

@@ -43,7 +43,7 @@
 #include <px4_platform_common/defines.h>
 #include <systemlib/px4_macros.h>
 
-#include <cmath>
+#include <math.h>
 
 #define CAT3_(A, B, C)    A##B##C
 #define CAT3(A, B, C)     CAT3_(A, B, C)
@@ -166,7 +166,7 @@ void start_note(unsigned frequency)
 	float signal_period = (1.0f / frequency) * 0.5f;
 
 	// Calculate the hardware clock divisor rounded to the nearest integer.
-	unsigned int divisor = std::round(signal_period * TONE_ALARM_CLOCK);
+	unsigned int divisor = roundf(signal_period * TONE_ALARM_CLOCK);
 
 	rCNT = 0;
 	rMOD = divisor;        // Load new signal switching period.

platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfacePWM.cpp

@@ -34,7 +34,7 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_tone_alarm.h>
 #include <px4_platform_common/defines.h>
-#include <cmath>
+#include <math.h>
 
 /* Check that tone alarm and HRT timers are different */
 #if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
@@ -288,7 +288,7 @@ void start_note(unsigned frequency)
 	float signal_period = (1.0f / frequency) * 0.5f;
 
 	// Calculate the hardware clock divisor rounded to the nearest integer.
-	unsigned int divisor = std::round(signal_period * TONE_ALARM_CLOCK);
+	unsigned int divisor = roundf(signal_period * TONE_ALARM_CLOCK);
 
 	// Pick the lowest prescaler value that we can use.
 	// (Note that the effective prescale value is 1 greater.)

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -36,7 +36,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include <cmath>
+#include <math.h>
 
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/getopt.h>

src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp

@@ -37,7 +37,7 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/posix.h>
 #include <errno.h>
-#include <cmath>	// NAN
+#include <math.h>	// NAN
 #include <string.h>
 
 #include <uORB/Subscription.hpp>

src/drivers/tap_esc/tap_esc.cpp

@@ -40,7 +40,7 @@
 #include <px4_platform_common/posix.h>
 #include <errno.h>
 
-#include <cmath>	// NAN
+#include <math.h>	// NAN
 #include <cstring>
 
 #include <lib/mathlib/mathlib.h>

src/drivers/uavcan/sensors/baro.cpp

@@ -37,7 +37,7 @@
 
 #include <drivers/drv_hrt.h>
 #include "baro.hpp"
-#include <cmath>
+#include <math.h>
 
 const char *const UavcanBarometerBridge::NAME = "baro";
 

src/drivers/uavcan/uavcan_drivers/kinetis/driver/src/uc_kinetis_clock.cpp

@@ -9,7 +9,7 @@
 
 #if UAVCAN_KINETIS_TIMER_NUMBER
 # include <cassert>
-# include <cmath>
+# include <math.h>
 
 /*
  * Timer instance

src/drivers/uavcan/uavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp

@@ -9,7 +9,7 @@
 #if UAVCAN_STM32_TIMER_NUMBER
 
 #include <cassert>
-#include <cmath>
+#include <math.h>
 
 /*
  * Timer instance

src/lib/mathlib/math/filter/LowPassFilter2p.cpp

@@ -35,7 +35,7 @@
 
 #include <px4_platform_common/defines.h>
 
-#include <cmath>
+#include <math.h>
 
 namespace math
 {

src/lib/mathlib/math/filter/LowPassFilter2pVector3f.cpp

@@ -35,7 +35,7 @@
 
 #include <px4_platform_common/defines.h>
 
-#include <cmath>
+#include <math.h>
 
 namespace math
 {

src/lib/mixer/MultirotorMixer/test_mixer_multirotor.cpp

@@ -39,7 +39,7 @@
 #include "MultirotorMixer.hpp"
 
 #include <cstdio>
-#include <cmath>
+#include <math.h>
 
 static const unsigned output_max = 16;
 static float actuator_controls[output_max] {};

src/modules/commander/Commander.cpp

@@ -76,7 +76,7 @@
 #include <circuit_breaker/circuit_breaker.h>
 #include <systemlib/mavlink_log.h>
 
-#include <cmath>
+#include <math.h>
 #include <float.h>
 #include <cstring>
 
@@ -768,7 +768,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
 				bool cmd_arms = (static_cast<int>(cmd.param1 + 0.5f) == 1);
 
 				// Arm/disarm is enforced when param2 is set to a magic number.
-				const bool enforce = (static_cast<int>(std::round(cmd.param2)) == 21196);
+				const bool enforce = (static_cast<int>(roundf(cmd.param2)) == 21196);
 
 				if (!enforce) {
 					if (!land_detector.landed && !is_ground_rover(&status)) {

src/modules/commander/airspeed_calibration.cpp

@@ -48,7 +48,7 @@
 #include <unistd.h>
 #include <fcntl.h>
 #include <poll.h>
-#include <cmath>
+#include <math.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_airspeed.h>
 #include <uORB/topics/differential_pressure.h>

src/modules/commander/gyro_calibration.cpp

@@ -50,7 +50,7 @@
 #include <unistd.h>
 #include <fcntl.h>
 #include <poll.h>
-#include <cmath>
+#include <math.h>
 #include <string.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/topics/sensor_combined.h>

src/modules/commander/mag_calibration.cpp

@@ -50,7 +50,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <poll.h>
-#include <cmath>
+#include <math.h>
 #include <fcntl.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_accel.h>

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -61,7 +61,7 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <cmath>
+#include <math.h>
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 

src/modules/mavlink/mavlink_mission.cpp

@@ -1546,8 +1546,8 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 			mavlink_mission_item_int_t *item_int =
 				reinterpret_cast<mavlink_mission_item_int_t *>(mavlink_mission_item);
 
-			item_int->x = std::round(mission_item->lat * 1e7);
-			item_int->y = std::round(mission_item->lon * 1e7);
+			item_int->x = round(mission_item->lat * 1e7);
+			item_int->y = round(mission_item->lon * 1e7);
 
 		} else {
 			mavlink_mission_item->x = (float)mission_item->lat;