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diff --git a/src/modules/mathlib/math/filter/LowPassFilter2p.hpp b/src/modules/mathlib/math/filter/LowPassFilter2p.hpp
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--- a/src/modules/mathlib/math/filter/LowPassFilter2p.hpp
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-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/// @file	LowPassFilter.h
-/// @brief	A class to implement a second order low pass filter 
-/// Author: Leonard Hall <LeonardTHall@gmail.com>
-/// Adapted for PX4 by Andrew Tridgell
-
-#pragma once
-
-namespace math
-{
-class __EXPORT LowPassFilter2p
-{
-public:
-    // constructor
-    LowPassFilter2p(float sample_freq, float cutoff_freq) {
-        // set initial parameters
-        set_cutoff_frequency(sample_freq, cutoff_freq);
-        _delay_element_1 = _delay_element_2 = 0;
-    }
-
-    // change parameters
-    void set_cutoff_frequency(float sample_freq, float cutoff_freq);
-
-    // apply - Add a new raw value to the filter 
-    // and retrieve the filtered result
-    float apply(float sample);
-
-    // return the cutoff frequency
-    float get_cutoff_freq(void) const {
-        return _cutoff_freq;
-    }
-
-private:
-    float           _cutoff_freq; 
-    float           _a1;
-    float           _a2;
-    float           _b0;
-    float           _b1;
-    float           _b2;
-    float           _delay_element_1;        // buffered sample -1
-    float           _delay_element_2;        // buffered sample -2
-};
-
-} // namespace math