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AP_NavEKF2: correct includes

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This commit is contained in:
Peter Barker 2020-07-29 14:16:27 +10:00 committed by Peter Barker
parent 37340b846d
commit 032b7c81e5
12 changed files with 6 additions and 45 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -1,11 +1,9 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_GPS/AP_GPS.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <new> #include <new>
/* /*

3
libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
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@ -3,9 +3,6 @@
#include "AP_NavEKF2.h" #include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;

4
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -3,9 +3,7 @@
#include "AP_NavEKF2.h" #include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_GPS/AP_GPS.h>
#include <stdio.h> #include <stdio.h>
@ -580,4 +578,4 @@ void NavEKF2_core::runYawEstimatorCorrection()
void NavEKF2_core::EKFGSF_requestYawReset() void NavEKF2_core::EKFGSF_requestYawReset()
{ {
EKFGSF_yaw_reset_request_ms = imuSampleTime_ms; EKFGSF_yaw_reset_request_ms = imuSampleTime_ms;
} }

4
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -2,12 +2,8 @@
#include "AP_NavEKF2.h" #include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
/******************************************************** /********************************************************

3
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -1,6 +1,5 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
@ -11,8 +10,6 @@
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h> #include <AP_Compass/AP_Compass.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;

4
libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
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@ -2,10 +2,6 @@
#include "AP_NavEKF2.h" #include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;

4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -1,14 +1,10 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_RangeFinder/AP_RangeFinder.h> #include <AP_RangeFinder/AP_RangeFinder.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;

2
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -2,8 +2,6 @@
#include "AP_NavEKF2.h" #include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_RangeFinder/AP_RangeFinder.h> #include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_RangeFinder/AP_RangeFinder_Backend.h> #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>

9
libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp
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@ -1,14 +1,5 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_NavEKF2.h" #include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
/******************************************************** /********************************************************
* FUSE MEASURED_DATA * * FUSE MEASURED_DATA *

3
libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
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@ -1,14 +1,11 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;

3
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -3,12 +3,9 @@
#include "AP_NavEKF2.h" #include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define earthRate 0.000072921f // earth rotation rate (rad/sec) #define earthRate 0.000072921f // earth rotation rate (rad/sec)

8
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -29,12 +29,12 @@
#include <AP_Common/Location.h> #include <AP_Common/Location.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include "AP_NavEKF2.h"
#include <stdio.h>
#include <AP_Math/vectorN.h> #include <AP_Math/vectorN.h>
#include <AP_NavEKF/AP_NavEKF_core_common.h> #include <AP_NavEKF/AP_NavEKF_core_common.h>
#include <AP_NavEKF2/AP_NavEKF2_Buffer.h> #include <AP_NavEKF2/AP_NavEKF2_Buffer.h>
#include <AP_InertialSensor/AP_InertialSensor.h> #include <AP_InertialSensor/AP_InertialSensor.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include "AP_NavEKF/EKFGSF_yaw.h" #include "AP_NavEKF/EKFGSF_yaw.h"
// GPS pre-flight check bit locations // GPS pre-flight check bit locations
@ -72,7 +72,7 @@ class NavEKF2_core : public NavEKF_core_common
{ {
public: public:
// Constructor // Constructor
NavEKF2_core(NavEKF2 *_frontend); NavEKF2_core(class NavEKF2 *_frontend);
// setup this core backend // setup this core backend
bool setup_core(uint8_t _imu_index, uint8_t _core_index); bool setup_core(uint8_t _imu_index, uint8_t _core_index);
@ -363,7 +363,7 @@ private:
EKFGSF_yaw *yawEstimator; EKFGSF_yaw *yawEstimator;
// Reference to the global EKF frontend for parameters // Reference to the global EKF frontend for parameters
NavEKF2 *frontend; class NavEKF2 *frontend;
uint8_t imu_index; // preferred IMU index uint8_t imu_index; // preferred IMU index
uint8_t gyro_index_active; // active gyro index (in case preferred fails) uint8_t gyro_index_active; // active gyro index (in case preferred fails)
uint8_t accel_index_active; // active accel index (in case preferred fails) uint8_t accel_index_active; // active accel index (in case preferred fails)