stop manually defining physical constants

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -1918,7 +1918,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
 		if (orb_copy(ORB_ID(sensor_baro), _sensor_baro_sub, &baro) == PX4_OK) {
 			if (PX4_ISFINITE(baro.pressure) && PX4_ISFINITE(_parameters.throttle_alt_scale)) {
 				// scale throttle as a function of sqrt(p0/p) (~ EAS -> TAS at low speeds and altitudes ignoring temperature)
-				const float eas2tas = sqrtf(MSL_PRESSURE_MILLIBAR / baro.pressure);
+				const float eas2tas = sqrtf(CONSTANTS_STD_PRESSURE_MBAR / baro.pressure);
 				const float scale = constrain((eas2tas - 1.0f) * _parameters.throttle_alt_scale + 1.0f, 1.0f, 2.0f);
 
 				throttle_max = constrain(throttle_max * scale, throttle_min, 1.0f);

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -103,8 +103,6 @@ static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
 	0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
 static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
 
-static constexpr float MSL_PRESSURE_MILLIBAR = 1013.25f; ///< standard atmospheric pressure in millibar
-
 using math::constrain;
 using math::max;
 using math::min;

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -775,7 +775,7 @@ void BlockLocalPositionEstimator::predict()
 	Vector3f a(_sub_sensor.get().accelerometer_m_s2);
 	// note, bias is removed in dynamics function
 	_u = _R_att * a;
-	_u(U_az) += 9.81f;	// add g
+	_u(U_az) += CONSTANTS_ONE_G;	// add g
 
 	// update state space based on new states
 	updateSSStates();

src/modules/mavlink/mavlink_receiver.cpp

@@ -90,8 +90,6 @@
 #include "mavlink_main.h"
 #include "mavlink_command_sender.h"
 
-static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
-
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_mavlink(parent),
 	_mission_manager(nullptr),
@@ -1922,9 +1920,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		struct accel_report accel = {};
 
 		accel.timestamp = timestamp;
-		accel.x_raw = imu.xacc / mg2ms2;
-		accel.y_raw = imu.yacc / mg2ms2;
-		accel.z_raw = imu.zacc / mg2ms2;
+		accel.x_raw = imu.xacc / (CONSTANTS_ONE_G / 1000.0f);
+		accel.y_raw = imu.yacc / (CONSTANTS_ONE_G / 1000.0f);
+		accel.z_raw = imu.zacc / (CONSTANTS_ONE_G / 1000.0f);
 		accel.x = imu.xacc;
 		accel.y = imu.yacc;
 		accel.z = imu.zacc;

src/modules/simulator/simulator_mavlink.cpp

@@ -52,11 +52,6 @@ extern "C" __EXPORT hrt_abstime hrt_reset(void);
 #define SEND_INTERVAL 	20
 #define UDP_PORT 	14560
 
-#define PRESS_GROUND 101325.0f
-#define DENSITY 1.2041f
-
-static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
-
 #ifdef ENABLE_UART_RC_INPUT
 #ifndef B460800
 #define B460800 460800
@@ -632,12 +627,12 @@ void Simulator::initializeSensorData()
 {
 	// write sensor data to memory so that drivers can copy data from there
 	RawMPUData mpu = {};
-	mpu.accel_z = 9.81f;
+	mpu.accel_z = CONSTANTS_ONE_G;
 
 	write_MPU_data(&mpu);
 
 	RawAccelData accel = {};
-	accel.z = 9.81f;
+	accel.z = CONSTANTS_ONE_G;
 
 	write_accel_data(&accel);
 
@@ -1036,9 +1031,9 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
 		struct accel_report accel = {};
 
 		accel.timestamp = timestamp;
-		accel.x_raw = imu->xacc / mg2ms2;
-		accel.y_raw = imu->yacc / mg2ms2;
-		accel.z_raw = imu->zacc / mg2ms2;
+		accel.x_raw = imu->xacc / (CONSTANTS_ONE_G / 1000.0f);
+		accel.y_raw = imu->yacc / (CONSTANTS_ONE_G / 1000.0f);
+		accel.z_raw = imu->zacc / (CONSTANTS_ONE_G / 1000.0f);
 		accel.x = imu->xacc;
 		accel.y = imu->yacc;
 		accel.z = imu->zacc;

src/modules/systemlib/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 set(SRCS
-	airspeed.c
+	airspeed.cpp
 	battery.cpp
 	board_serial.c
 	bson/tinybson.c

src/modules/systemlib/airspeed.cpp

@@ -236,7 +236,7 @@ float calc_true_airspeed(float total_pressure, float static_pressure, float temp
 {
 	float density = get_air_density(static_pressure, temperature_celsius);
 
-	if (density < 0.0001f || !isfinite(density)) {
+	if (density < 0.0001f || !PX4_ISFINITE(density)) {
 		density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C;
 	}