Update examples

src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -611,10 +611,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 					att.yawspeed = x_aposteriori[2];
 
 					/* magnetic declination */
-					matrix::Dcm<float> R(&Rot_matrix[0]);
+					matrix::Dcm<float> Ro(&Rot_matrix[0]);
 					matrix::Dcm<float> R_declination(&R_decl.data[0][0]);
-					R = R_declination * R;
+					Ro = R_declination * Ro;
-					matrix::Quaternion<float> q(R);
+					matrix::Quaternion<float> q(Ro);
 
 					memcpy(&att.q[0],&q._data[0],sizeof(att.q));
 					att.q_valid = true;

src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp

@@ -147,11 +147,11 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
 	if (e_R_z_cos < 0.0f) {
 		/* for large thrust vector rotations use another rotation method:
 		 * calculate angle and axis for R -> R_sp rotation directly */
-		math::Quaternion q;
+		math::Quaternion ql;
-		q.from_dcm(R.transposed() * R_sp);
+		ql.from_dcm(R.transposed() * R_sp);
-		math::Vector <3> e_R_d = q.imag();
+		math::Vector <3> e_R_d = ql.imag();
 		e_R_d.normalize();
-		e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
+		e_R_d *= 2.0f * atan2f(e_R_d.length(), ql(0));
 
 		/* use fusion of Z axis based rotation and direct rotation */
 		float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;

src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp

@@ -937,9 +937,9 @@ void  MulticopterPositionControlMultiplatform::handle_vehicle_attitude(const px4
 					_att_sp_msg.data().R_valid = true;
 
 					/* calculate euler angles, for logging only, must not be used for control */
-					math::Vector<3> euler = _R.to_euler();
+					math::Vector<3> eul = _R.to_euler();
-					_att_sp_msg.data().roll_body = euler(0);
+					_att_sp_msg.data().roll_body = eul(0);
-					_att_sp_msg.data().pitch_body = euler(1);
+					_att_sp_msg.data().pitch_body = eul(1);
 					/* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */
 
 				} else if (!_control_mode->data().flag_control_manual_enabled) {