From 0443c8561bfa84532e4bd5abe22366fdddad0a45 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Jul 2022 14:15:35 +1000
Subject: [PATCH] AP_NavEKF3: stop using GCS_MAVLINK.h in header files

... by passing through a reference to a link object instead
---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp         | 4 ++--
 libraries/AP_NavEKF3/AP_NavEKF3.h           | 3 +--
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 7 +++++--
 libraries/AP_NavEKF3/AP_NavEKF3_core.h      | 3 +--
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 0fa49a6237..6889f57825 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1776,10 +1776,10 @@ void NavEKF3::getFilterStatus(nav_filter_status &status) const
 }
 
 // send an EKF_STATUS_REPORT message to GCS
-void NavEKF3::send_status_report(mavlink_channel_t chan) const
+void NavEKF3::send_status_report(GCS_MAVLINK &link) const
 {
     if (core) {
-        core[primary].send_status_report(chan);
+        core[primary].send_status_report(link);
     }
 }
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index 8979b1c299..98fac0a9cb 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -22,7 +22,6 @@
 #include <AP_Common/Location.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Param/AP_Param.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_NavEKF/AP_Nav_Common.h>
 #include <AP_NavEKF/AP_NavEKF_Source.h>
 
@@ -277,7 +276,7 @@ public:
     void getFilterStatus(nav_filter_status &status) const;
 
     // send an EKF_STATUS_REPORT message to GCS
-    void send_status_report(mavlink_channel_t chan) const;
+    void send_status_report(class GCS_MAVLINK &link) const;
 
     // provides the height limit to be observed by the control loops
     // returns false if no height limiting is required
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 91591d524b..d99dff3594 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -3,6 +3,7 @@
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_DAL/AP_DAL.h>
+#include <GCS_MAVLink/GCS.h>
 
 // Check basic filter health metrics and return a consolidated health status
 bool NavEKF3_core::healthy(void) const
@@ -525,8 +526,9 @@ void  NavEKF3_core::getFilterStatus(nav_filter_status &status) const
     status = filterStatus;
 }
 
+#if HAL_GCS_ENABLED
 // send an EKF_STATUS message to GCS
-void NavEKF3_core::send_status_report(mavlink_channel_t chan) const
+void NavEKF3_core::send_status_report(GCS_MAVLINK &link) const
 {
     // prepare flags
     uint16_t flags = 0;
@@ -585,8 +587,9 @@ void NavEKF3_core::send_status_report(mavlink_channel_t chan) const
     const float mag_max = fmaxF(fmaxF(magVar.x,magVar.y),magVar.z);
 
     // send message
-    mavlink_msg_ekf_status_report_send(chan, flags, velVar, posVar, hgtVar, mag_max, temp, tasVar);
+    mavlink_msg_ekf_status_report_send(link.get_chan(), flags, velVar, posVar, hgtVar, mag_max, temp, tasVar);
 }
+#endif  // HAL_GCS_ENABLED
 
 // report the reason for why the backend is refusing to initialise
 const char *NavEKF3_core::prearm_failure_reason(void) const
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index d80415e126..da31f6cb41 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -32,7 +32,6 @@
 #include <AP_NavEKF/AP_NavEKF_Source.h>
 #include <AP_NavEKF/EKF_Buffer.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_DAL/AP_DAL.h>
 
 #include "AP_NavEKF/EKFGSF_yaw.h"
@@ -352,7 +351,7 @@ public:
     void getFilterStatus(nav_filter_status &status) const;
 
     // send an EKF_STATUS_REPORT message to GCS
-    void send_status_report(mavlink_channel_t chan) const;
+    void send_status_report(class GCS_MAVLINK &link) const;
 
     // provides the height limit to be observed by the control loops
     // returns false if no height limiting is required