diff --git a/src/modules/ackermann_drive/AckermannDrive.hpp b/src/modules/ackermann_drive/AckermannDrive.hpp
index c82fcc9351..64c9cd915f 100644
--- a/src/modules/ackermann_drive/AckermannDrive.hpp
+++ b/src/modules/ackermann_drive/AckermannDrive.hpp
@@ -59,6 +59,8 @@
 // Local includes
 #include "AckermannDriveControl/AckermannDriveControl.hpp"
 
+using namespace time_literals;
+
 class AckermannDrive : public ModuleBase<AckermannDrive>, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
@@ -83,9 +85,9 @@ protected:
 private:
 	void Run() override;
 
-	differential_drive_control::AckermannDriveControl _ackermann_drive_control{this};
+	differential_drive_control::AckermannDriveControl _ackermann_drive_control{this}; //TO BE REMOVED
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe
+		(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe //TO BE REMOVED
 	)
 };
diff --git a/src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.cpp b/src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.cpp
index 7b549aef4b..42939b2a3b 100644
--- a/src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.cpp
+++ b/src/modules/ackermann_drive/AckermannDriveControl/AckermannDriveControl.cpp
@@ -35,8 +35,6 @@
 
 using namespace time_literals;
 using namespace matrix;
-namespace differential_drive_control
-{
 
 AckermannDriveControl::AckermannDriveControl(ModuleParams *parent) : ModuleParams(parent)
 {
@@ -105,4 +103,3 @@ void AckermannDriveControl::Update()
 	actuator_servos.timestamp = now;
 	_actuator_servos_pub.publish(actuator_servos);
 }
-} // namespace differential_drive_control