mixer lib remove custom constrain and cleanup includes

src/lib/mixer/mixer.cpp

@@ -37,24 +37,10 @@
  * Programmable multi-channel mixer library.
  */
 
-#include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-#include <ctype.h>
-#include <systemlib/err.h>
-
 #include "mixer.h"
 
+#include <cstring>
+
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 

src/lib/mixer/mixer.h

@@ -740,7 +740,8 @@ public:
 	HelicopterMixer(ControlCallback control_cb,
 			uintptr_t cb_handle,
 			mixer_heli_s *mixer_info);
-	~HelicopterMixer();
+
+	~HelicopterMixer() = default;
 
 	/**
 	 * Factory method.

src/lib/mixer/mixer_helicopter.cpp

@@ -36,37 +36,17 @@
  *
  * Helicopter mixers.
  */
-#include <px4_config.h>
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-#include <math.h>
 
 #include "mixer.h"
 
+#include <mathlib/mathlib.h>
+
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 //#include <debug.h>
 //#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
 
-
-namespace
-{
-
-float constrain(float val, float min, float max)
-{
-	return (val < min) ? min : ((val > max) ? max : val);
-}
-
-} // anonymous namespace
+using math::constrain;
 
 HelicopterMixer::HelicopterMixer(ControlCallback control_cb,
 				 uintptr_t cb_handle,
@@ -74,11 +54,6 @@ HelicopterMixer::HelicopterMixer(ControlCallback control_cb,
 	Mixer(control_cb, cb_handle),
 	_mixer_info(*mixer_info)
 {
-
-}
-
-HelicopterMixer::~HelicopterMixer()
-{
 }
 
 HelicopterMixer *

src/lib/mixer/mixer_multirotor.cpp

@@ -36,26 +36,13 @@
  *
  * Multi-rotor mixers.
  */
-#include <px4_config.h>
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <float.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-#include <math.h>
-
-#include <mathlib/math/Limits.hpp>
-#include <drivers/drv_pwm_output.h>
 
 #include "mixer.h"
 
+#include <cfloat>
+
+#include <mathlib/mathlib.h>
+
 // This file is generated by the px_generate_mixers.py script which is invoked during the build process
 // #include "mixer_multirotor.generated.h"
 #include "mixer_multirotor_normalized.generated.h"

src/lib/mixer/mixer_simple.cpp

@@ -37,21 +37,6 @@
  * Simple summing mixer.
  */
 
-#include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-#include <ctype.h>
-
 #include "mixer.h"
 
 #define debug(fmt, args...)	do { } while(0)