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ekf2: move "using" keywords to cpp

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bresch
2020-09-07 09:42:56 -04:00
committed by Daniel Agar
parent 60d613ea04
commit db25f20120
2 changed files with 5 additions and 4 deletions
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src/modules/ekf2/EKF2.cpp
+5 -1
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@@ -33,6 +33,10 @@
#include "EKF2.hpp" #include "EKF2.hpp"
using namespace time_literals;
using math::constrain;
EKF2::EKF2(bool replay_mode): EKF2::EKF2(bool replay_mode):
ModuleParams(nullptr), ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), 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<float>(_gps_state[0].time_usec - _gps_alttitude_ellipsoid_previous_timestamp[0]); float dt = 1e-6f * static_cast<float>(_gps_state[0].time_usec - _gps_alttitude_ellipsoid_previous_timestamp[0]);
_gps_alttitude_ellipsoid_previous_timestamp[0] = _gps_state[0].time_usec; _gps_alttitude_ellipsoid_previous_timestamp[0] = _gps_state[0].time_usec;
float offset_rate_correction = 0.1f * (height_diff - _wgs84_hgt_offset); 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; return amsl_hgt + _wgs84_hgt_offset;
src/modules/ekf2/EKF2.hpp
-3
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@@ -94,9 +94,6 @@
#define GPS_MAX_RECEIVERS 2 #define GPS_MAX_RECEIVERS 2
#define GPS_BLENDED_INSTANCE 2 #define GPS_BLENDED_INSTANCE 2
using math::constrain;
using namespace time_literals;
class EKF2 final : public ModuleBase<EKF2>, public ModuleParams, public px4::ScheduledWorkItem class EKF2 final : public ModuleBase<EKF2>, public ModuleParams, public px4::ScheduledWorkItem
{ {
public: public: