diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
index cf3748d21d5e6fd7a05fc43777aefd4cf336a3a4..25066b6e49b56eb0f50cfa1ce5fb98f38c5fde03 100644
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -44,6 +44,7 @@
#include <float.h>
#include <stdio.h>
#include <string.h>
+#include <ecl/geo/geo.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
@@ -555,7 +556,7 @@ BATT_SMBUS::cycle()
// read battery temperature and covert to Celsius
if (read_reg(BATT_SMBUS_TEMP, tmp) == OK) {
- new_report.temperature = (float)(((float)tmp / 10.0f) - 273.15f);
+ new_report.temperature = (float)(((float)tmp / 10.0f) + CONSTANTS_ABSOLUTE_NULL_CELSIUS);
}
//Check if remaining % is out of range
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index 7763002a5bb964e66cb2034f35696e9b9db85aa4..b8b33b018bb594f619a0342bd0c4e0a83126e1c4 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -44,7 +44,7 @@
*/
#include <px4_config.h>
-
+#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
@@ -171,8 +171,6 @@
#define ADIS16448_ACCEL_MAX_OUTPUT_RATE 1221
#define ADIS16448_GYRO_MAX_OUTPUT_RATE 1221
-#define ADIS16448_ONE_G 9.80665f
-
#define FW_FILTER false
#define SPI_BUS_SPEED 1000000
@@ -733,8 +731,8 @@ int ADIS16448::reset()
/* Set IMU sample rate */
_set_sample_rate(_sample_rate);
- _accel_range_scale = ADIS16448_ONE_G * ACCELINITIALSENSITIVITY;
- _accel_range_m_s2 = ADIS16448_ONE_G * ACCELDYNAMICRANGE;
+ _accel_range_scale = CONSTANTS_ONE_G * ACCELINITIALSENSITIVITY;
+ _accel_range_m_s2 = CONSTANTS_ONE_G * ACCELDYNAMICRANGE;
_mag_range_scale = MAGINITIALSENSITIVITY;
_mag_range_mgauss = MAGDYNAMICRANGE;
@@ -1140,7 +1138,7 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
case ACCELIOCGRANGE:
- return (unsigned long)((_accel_range_m_s2) / ADIS16448_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp
index d33056be459bd97987519d3ad31d46a86b715d04..0b2aa75b08a111894c4706aee4b21a3ca2dcfaea 100644
--- a/src/drivers/imu/bma180/bma180.cpp
+++ b/src/drivers/imu/bma180/bma180.cpp
@@ -38,6 +38,7 @@
#include <px4_config.h>
#include <px4_defines.h>
+#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
@@ -575,7 +576,7 @@ BMA180::set_range(unsigned max_g)
}
/* set new range scaling factor */
- _accel_range_m_s2 = _current_range * 9.80665f;
+ _accel_range_m_s2 = _current_range * CONSTANTS_ONE_G;
_accel_range_scale = _accel_range_m_s2 / 8192.0f;
/* enable writing to chip config */
diff --git a/src/drivers/imu/bmi055/bmi055.hpp b/src/drivers/imu/bmi055/bmi055.hpp
index 999957748ca63be781751747338364d0ee3051d9..bad674f5feebb176ea4262e6f44620453ea2768b 100644
--- a/src/drivers/imu/bmi055/bmi055.hpp
+++ b/src/drivers/imu/bmi055/bmi055.hpp
@@ -239,8 +239,6 @@
#define BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ 50
-#define BMI055_ONE_G 9.80665f
-
#define BMI055_BUS_SPEED 10*1000*1000
#define BMI055_TIMER_REDUCTION 200
diff --git a/src/drivers/imu/bmi055/bmi055_accel.cpp b/src/drivers/imu/bmi055/bmi055_accel.cpp
index 40cb61fb3dde781b185e91372729b6d48ddd4928..14c4c08ffeb279cf3fb5674ab1c641c85e0827f8 100644
--- a/src/drivers/imu/bmi055/bmi055_accel.cpp
+++ b/src/drivers/imu/bmi055/bmi055_accel.cpp
@@ -1,5 +1,5 @@
#include "bmi055.hpp"
-
+#include <ecl/geo/geo.h>
/*
list of registers that will be checked in check_registers(). Note
@@ -463,7 +463,7 @@ BMI055_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
- return (unsigned long)((_accel_range_m_s2) / BMI055_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@@ -535,8 +535,8 @@ BMI055_accel::set_accel_range(unsigned max_g)
return -EINVAL;
}
- _accel_range_scale = (BMI055_ONE_G / lsb_per_g);
- _accel_range_m_s2 = max_accel_g * BMI055_ONE_G;
+ _accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
+ _accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
modify_reg(BMI055_ACC_RANGE, clearbits, setbits);
diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp
index 3b97eeb7902fb47fc5614ecba652a065331df4bf..df2ed343a057ee80d80232bed8383615f89dd15f 100644
--- a/src/drivers/imu/bmi160/bmi160.cpp
+++ b/src/drivers/imu/bmi160/bmi160.cpp
@@ -1,6 +1,6 @@
#include "bmi160.hpp"
#include "bmi160_gyro.hpp"
-
+#include <ecl/geo/geo.h>
/*
list of registers that will be checked in check_registers(). Note
@@ -743,7 +743,7 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
- return (unsigned long)((_accel_range_m_s2) / BMI160_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@@ -905,8 +905,8 @@ BMI160::set_accel_range(unsigned max_g)
return -EINVAL;
}
- _accel_range_scale = (BMI160_ONE_G / lsb_per_g);
- _accel_range_m_s2 = max_accel_g * BMI160_ONE_G;
+ _accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
+ _accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
modify_reg(BMIREG_ACC_RANGE, clearbits, setbits);
diff --git a/src/drivers/imu/bmi160/bmi160.hpp b/src/drivers/imu/bmi160/bmi160.hpp
index b63529e6d6432182a8a2b90e671b216f151d091e..2f5dfa4dd5d73445b86dfb74aa9260e7cff226cd 100644
--- a/src/drivers/imu/bmi160/bmi160.hpp
+++ b/src/drivers/imu/bmi160/bmi160.hpp
@@ -238,8 +238,6 @@
#define BMI160_GYRO_DEFAULT_ONCHIP_FILTER_FREQ 254.6f
#define BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ 50
-#define BMI160_ONE_G 9.80665f
-
#define BMI160_BUS_SPEED 10*1000*1000
#define BMI160_TIMER_REDUCTION 200
diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
index 2c01bf5b17cc00de42182ab19ea51d0e379403e6..8ec72c7f39d7c377b6cee56502b5137ff36aecc5 100644
--- a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
+++ b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
@@ -39,6 +39,7 @@
#include <px4_config.h>
#include <px4_defines.h>
+#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <sys/stat.h>
@@ -137,7 +138,6 @@
#define FXOS8701C_MAG_DEFAULT_RANGE_GA 12 /* It is fixed at 12 G */
#define FXOS8701C_MAG_DEFAULT_RATE 100
-#define FXOS8701C_ONE_G 9.80665f
/*
we set the timer interrupt to run a bit faster than the desired
@@ -877,7 +877,7 @@ FXOS8701CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
- return (unsigned long)((_accel_range_m_s2) / FXOS8701C_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
@@ -1135,8 +1135,8 @@ FXOS8701CQ::accel_set_range(unsigned max_g)
max_accel_g = 2;
}
- _accel_range_scale = (FXOS8701C_ONE_G / lsb_per_g);
- _accel_range_m_s2 = max_accel_g * FXOS8701C_ONE_G;
+ _accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
+ _accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
modify_reg(FXOS8701CQ_XYZ_DATA_CFG, XYZ_DATA_CFG_FS_MASK, setbits);
diff --git a/src/drivers/imu/lsm303d/lsm303d.cpp b/src/drivers/imu/lsm303d/lsm303d.cpp
index 90c3c2aa3b10e2aa8ce7271347d8ba3553ce0374..adfdb40e9aefdaf01e85edb23a347a73999c3411 100644
--- a/src/drivers/imu/lsm303d/lsm303d.cpp
+++ b/src/drivers/imu/lsm303d/lsm303d.cpp
@@ -38,6 +38,7 @@
#include <px4_config.h>
#include <px4_defines.h>
+#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <sys/stat.h>
@@ -206,8 +207,6 @@
#define LSM303D_MAG_DEFAULT_RANGE_GA 2
#define LSM303D_MAG_DEFAULT_RATE 100
-#define LSM303D_ONE_G 9.80665f
-
/*
we set the timer interrupt to run a bit faster than the desired
sample rate and then throw away duplicates using the data ready bit.
@@ -946,7 +945,7 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
- return (unsigned long)((_accel_range_m_s2) / LSM303D_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
@@ -1178,27 +1177,27 @@ LSM303D::accel_set_range(unsigned max_g)
}
if (max_g <= 2) {
- _accel_range_m_s2 = 2.0f * LSM303D_ONE_G;
+ _accel_range_m_s2 = 2.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_2G_A;
new_scale_g_digit = 0.061e-3f;
} else if (max_g <= 4) {
- _accel_range_m_s2 = 4.0f * LSM303D_ONE_G;
+ _accel_range_m_s2 = 4.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_4G_A;
new_scale_g_digit = 0.122e-3f;
} else if (max_g <= 6) {
- _accel_range_m_s2 = 6.0f * LSM303D_ONE_G;
+ _accel_range_m_s2 = 6.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_6G_A;
new_scale_g_digit = 0.183e-3f;
} else if (max_g <= 8) {
- _accel_range_m_s2 = 8.0f * LSM303D_ONE_G;
+ _accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_8G_A;
new_scale_g_digit = 0.244e-3f;
} else if (max_g <= 16) {
- _accel_range_m_s2 = 16.0f * LSM303D_ONE_G;
+ _accel_range_m_s2 = 16.0f * CONSTANTS_ONE_G;
setbits |= REG2_FULL_SCALE_16G_A;
new_scale_g_digit = 0.732e-3f;
@@ -1206,7 +1205,7 @@ LSM303D::accel_set_range(unsigned max_g)
return -EINVAL;
}
- _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
+ _accel_range_scale = new_scale_g_digit * CONSTANTS_ONE_G;
modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index df0d5a9a467f61b3a0e255a5f3e0663590ef84ae..eba3c372ea5881bef02d03145f07075ce8f1d2e6 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -56,6 +56,7 @@
*/
#include <px4_config.h>
+#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
@@ -1505,7 +1506,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
- return (unsigned long)((_accel_range_m_s2) / MPU6000_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@@ -1645,8 +1646,8 @@ MPU6000::set_accel_range(unsigned max_g_in)
case MPU6000_REV_C4:
case MPU6000_REV_C5:
write_checked_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
- _accel_range_scale = (MPU6000_ONE_G / 4096.0f);
- _accel_range_m_s2 = 8.0f * MPU6000_ONE_G;
+ _accel_range_scale = (CONSTANTS_ONE_G / 4096.0f);
+ _accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
return OK;
}
}
@@ -1677,8 +1678,8 @@ MPU6000::set_accel_range(unsigned max_g_in)
}
write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
- _accel_range_scale = (MPU6000_ONE_G / lsb_per_g);
- _accel_range_m_s2 = max_accel_g * MPU6000_ONE_G;
+ _accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
+ _accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
return OK;
}
diff --git a/src/drivers/imu/mpu6000/mpu6000.h b/src/drivers/imu/mpu6000/mpu6000.h
index 11c13009b7879210728f5e69b619a17d86517e3d..6af00b27f71d460ccc3e717c19a768a47da4d562 100644
--- a/src/drivers/imu/mpu6000/mpu6000.h
+++ b/src/drivers/imu/mpu6000/mpu6000.h
@@ -212,8 +212,6 @@
#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 42
-#define MPU6000_ONE_G 9.80665f
-
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 97bb7ddf111daf47d0305da7ba95ccd0b40fd9e9..af5bc1e7130991998420a64a96d69f2146ce0417 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -42,6 +42,7 @@
*/
#include <px4_config.h>
+#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
@@ -918,7 +919,7 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
- return (unsigned long)((_accel_range_m_s2) / MPU9250_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@@ -1086,8 +1087,8 @@ MPU9250::set_accel_range(unsigned max_g_in)
}
write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
- _accel_range_scale = (MPU9250_ONE_G / lsb_per_g);
- _accel_range_m_s2 = max_accel_g * MPU9250_ONE_G;
+ _accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
+ _accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
return OK;
}
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index 7ee1cc3976fe28b19f33d6aa9420645ba2f39dbd..cd546c4f4d725d67ab478a2c9ff294a79c834a26 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -190,8 +190,6 @@
#define MPU9250_DEFAULT_ONCHIP_FILTER_FREQ 41
-#define MPU9250_ONE_G 9.80665f
-
#define MPUIOCGIS_I2C (unsigned)(DEVIOCGDEVICEID+100)
diff --git a/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt b/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
index 6f2293ffc925a6f8f35d265c9d0b0d4a838719ce..b6a303f4eecb19e5ee7cb9e75a15460d9a8967a6 100644
--- a/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
+++ b/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
@@ -36,9 +36,9 @@ px4_add_module(
STACK_MAIN 1200
COMPILE_FLAGS
SRCS
- frsky_data.c
- sPort_data.c
- frsky_telemetry.c
+ frsky_data.cpp
+ sPort_data.cpp
+ frsky_telemetry.cpp
DEPENDS
platforms__common
)
diff --git a/src/drivers/telemetry/frsky_telemetry/frsky_data.c b/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp
similarity index 99%
rename from src/drivers/telemetry/frsky_telemetry/frsky_data.c
rename to src/drivers/telemetry/frsky_telemetry/frsky_data.cpp
index 63116c43b7f63e597b7be73adf773252e1c33168..85ab413b41430ffb30e1269917b0027746aed302 100644
--- a/src/drivers/telemetry/frsky_telemetry/frsky_data.c
+++ b/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp
@@ -47,9 +47,9 @@
#include <stdio.h>
#include <string.h>
#include <stdbool.h>
-#include <arch/math.h>
#include <lib/ecl/geo/geo.h>
#include <stdbool.h>
+#include <math.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
diff --git a/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.c b/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
similarity index 99%
rename from src/drivers/telemetry/frsky_telemetry/frsky_telemetry.c
rename to src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
index 41d5022aa0f161065729f822965021f5e08e6ef5..34c5dd9bb3b02d12e148d4cd996a5ff39dc24bb4 100644
--- a/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.c
+++ b/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
@@ -79,8 +79,8 @@ static int sPort_open_uart(const char *uart_name, struct termios *uart_config, s
static int set_uart_speed(int uart, struct termios *uart_config, speed_t speed);
static void usage(void);
static int frsky_telemetry_thread_main(int argc, char *argv[]);
-__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
+extern "C" __EXPORT int frsky_telemetry_main(int argc, char *argv[]);
uint16_t get_telemetry_flight_mode(int px4_flight_mode)
{
diff --git a/src/drivers/telemetry/frsky_telemetry/sPort_data.c b/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
similarity index 99%
rename from src/drivers/telemetry/frsky_telemetry/sPort_data.c
rename to src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
index b2910d92061e81ca2289ca2ad20d5f4789f82e7a..ae5e5f0c40ffc3c4a95151788f663e6fc6e325f2 100644
--- a/src/drivers/telemetry/frsky_telemetry/sPort_data.c
+++ b/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
@@ -47,7 +47,8 @@
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
-#include <arch/math.h>
+#include <math.h>
+
#include <lib/ecl/geo/geo.h>
#include <uORB/topics/battery_status.h>
diff --git a/src/lib/ecl b/src/lib/ecl
index 02e319431b948f660f8548707849489d6c822fad..8678cc42ba6c87b3ae0724af2becb62b71bf6683 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit 02e319431b948f660f8548707849489d6c822fad
+Subproject commit 8678cc42ba6c87b3ae0724af2becb62b71bf6683
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 45796ac151890ebeb4419d5bac9edd4404b54afe..9f167f5a91b5a0f4c625c56c45b3c0b63c927fee 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/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);
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index f53e9c29298104eb2b2f55ad4c1960f434d27b6e..1706e1b8252f919615c66937998c9ecd8ba18203 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/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;
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index fc8bd1ea86ae012a7c11305c0aa851afdde157a7..e306ec36ae94aa32fd9547c27044981a5040c3a0 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/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();
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index e4db48f069951e44bad4e27d803bce252880cd4c..a4a10b585daf2562ff9610fa797fc9c00376718b 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/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;
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 30b2f84ba7d1099b68c9db3284ad5b6c0d909e49..4bbb291251abaf8fae8f62321badb06a310bd8f4 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/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;
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt
index 5a77779734cd1a5d609d39a7dd6bc86ad911b059..1f67c29aad9e81fe7323966a3dc2d3d95d86d04c 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@@ -32,7 +32,7 @@
############################################################################
set(SRCS
- airspeed.c
+ airspeed.cpp
battery.cpp
board_serial.c
bson/tinybson.c
diff --git a/src/modules/systemlib/airspeed.c b/src/modules/systemlib/airspeed.cpp
similarity index 99%
rename from src/modules/systemlib/airspeed.c
rename to src/modules/systemlib/airspeed.cpp
index 23b36a299bf1c24067f524dc4d99a38ceca878f4..fbf06df6e7e385eaf081e6f49cd299738617a14e 100644
--- a/src/modules/systemlib/airspeed.c
+++ b/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;
}
diff --git a/src/platforms/posix/drivers/accelsim/accelsim.cpp b/src/platforms/posix/drivers/accelsim/accelsim.cpp
index ca8deaa85f2a45900589d6833940823b10a176a0..c852dc54176cc1ac9c480a241745b9d0e22461d2 100644
--- a/src/platforms/posix/drivers/accelsim/accelsim.cpp
+++ b/src/platforms/posix/drivers/accelsim/accelsim.cpp
@@ -71,7 +71,6 @@
#define ACCELSIM_ACCEL_DEFAULT_RATE 250
#define ACCELSIM_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
-#define ACCELSIM_ONE_G 9.80665f
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
@@ -595,7 +594,7 @@ ACCELSIM::devIOCTL(unsigned long cmd, unsigned long arg)
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
- return (unsigned long)((_accel_range_m_s2) / ACCELSIM_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
@@ -732,7 +731,7 @@ ACCELSIM::accel_set_range(unsigned max_g)
{
float new_scale_g_digit = 0.732e-3f;
- _accel_range_scale = new_scale_g_digit * ACCELSIM_ONE_G;
+ _accel_range_scale = new_scale_g_digit * CONSTANTS_ONE_G;
return OK;
}
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index 3722b1532d1a6868e285bc3118b65309ce77811a..82dec6f9610fe2468d01580219317830359966fb 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -103,8 +103,6 @@ using namespace DriverFramework;
#define GYROSIM_GYRO_DEFAULT_RATE 400
-#define GYROSIM_ONE_G 9.80665f
-
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
@@ -819,7 +817,7 @@ GYROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
return set_accel_range(arg);
case ACCELIOCGRANGE:
- return (unsigned long)((_accel_range_m_s2) / GYROSIM_ONE_G + 0.5f);
+ return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
case ACCELIOCSELFTEST:
return accel_self_test();
@@ -920,8 +918,8 @@ GYROSIM::set_accel_range(unsigned max_g_in)
switch (_product) {
case GYROSIMES_REV_C4:
write_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
- _accel_range_scale = (GYROSIM_ONE_G / 4096.0f);
- _accel_range_m_s2 = 8.0f * GYROSIM_ONE_G;
+ _accel_range_scale = (CONSTANTS_ONE_G / 4096.0f);
+ _accel_range_m_s2 = 8.0f * CONSTANTS_ONE_G;
return OK;
}
@@ -951,8 +949,8 @@ GYROSIM::set_accel_range(unsigned max_g_in)
}
write_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
- _accel_range_scale = (GYROSIM_ONE_G / lsb_per_g);
- _accel_range_m_s2 = max_accel_g * GYROSIM_ONE_G;
+ _accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
+ _accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
return OK;
}
@@ -1334,7 +1332,7 @@ test()
PX4_INFO("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
PX4_INFO("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
PX4_INFO("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
- (double)(a_report.range_m_s2 / GYROSIM_ONE_G));
+ (double)(a_report.range_m_s2 / CONSTANTS_ONE_G));
/* do a simple demand read */
sz = h_gyro.read(&g_report, sizeof(g_report));