From db25f20120e7b0df09730a0953171fb7c9d1dcfc Mon Sep 17 00:00:00 2001 From: bresch Date: Mon, 7 Sep 2020 09:41:09 +0200 Subject: [PATCH] ekf2: move "using" keywords to cpp --- src/modules/ekf2/EKF2.cpp | 6 +++++- src/modules/ekf2/EKF2.hpp | 3 --- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index ab99f37108..966162c9cd 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -33,6 +33,10 @@ #include "EKF2.hpp" +using namespace time_literals; + +using math::constrain; + EKF2::EKF2(bool replay_mode): ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), @@ -1961,7 +1965,7 @@ float EKF2::filter_altitude_ellipsoid(float amsl_hgt) float dt = 1e-6f * static_cast(_gps_state[0].time_usec - _gps_alttitude_ellipsoid_previous_timestamp[0]); _gps_alttitude_ellipsoid_previous_timestamp[0] = _gps_state[0].time_usec; float offset_rate_correction = 0.1f * (height_diff - _wgs84_hgt_offset); - _wgs84_hgt_offset += dt * math::constrain(offset_rate_correction, -0.1f, 0.1f); + _wgs84_hgt_offset += dt * constrain(offset_rate_correction, -0.1f, 0.1f); } return amsl_hgt + _wgs84_hgt_offset; diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index 996459241f..028b6f2125 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -94,9 +94,6 @@ #define GPS_MAX_RECEIVERS 2 #define GPS_BLENDED_INSTANCE 2 -using math::constrain; -using namespace time_literals; - class EKF2 final : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem { public: