From a0b7f10ae71e88d3dd2035023bd3817b6c975e31 Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Thu, 31 Jan 2019 00:21:44 -0800
Subject: [PATCH] use more up to date C++

---
 main/CMakeLists.txt | 2 +-
 main/ugv_io.cc      | 5 +----
 main/ugv_io_mpu.cc  | 4 ++++
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index b6e1440..e9e892c 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -24,5 +24,5 @@ register_component()
 
 make_directory(${PB_OUT})
 
-component_compile_options("-Werror=incompatible-pointer-types")
+component_compile_options("-Werror=incompatible-pointer-types" "-std=c++14")
 component_compile_options(-I${PB_OUT})
diff --git a/main/ugv_io.cc b/main/ugv_io.cc
index 2b9356f..c1f0e2b 100644
--- a/main/ugv_io.cc
+++ b/main/ugv_io.cc
@@ -2,12 +2,9 @@
 
 #include <driver/gpio.h>
 #include <driver/mcpwm.h>
-#include <driver/uart.h>
 #include <esp_log.h>
-#include <math.h>
 
-#include "MPU.hpp"
-#include "mpu/math.hpp"
+#include <math.h>
 
 namespace ugv {
 namespace io {
diff --git a/main/ugv_io_mpu.cc b/main/ugv_io_mpu.cc
index 622bbca..65354b6 100644
--- a/main/ugv_io_mpu.cc
+++ b/main/ugv_io_mpu.cc
@@ -3,6 +3,10 @@
 #include <driver/uart.h>
 #include <esp_log.h>
 
+#include <math.h>
+
+constexpr float M_PI = atanf(1.f) * 4;
+
 #include "MPU.hpp"
 #include "i2c_mutex.h"
 #include "mpu/math.hpp"