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AP_AHRS: include cleanups

This commit is contained in:
Peter Barker 2022-02-25 16:06:27 +11:00 committed by Andrew Tridgell
parent 2ab2555e0b
commit 24099f9a2d
5 changed files with 9 additions and 10 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -22,9 +22,11 @@
#include "AP_AHRS.h"
#include "AP_AHRS_View.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_Module/AP_Module.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Notify/AP_Notify.h>

6
libraries/AP_AHRS/AP_AHRS.h
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@ -16,7 +16,7 @@
*/
/*
* NavEKF based AHRS (Attitude Heading Reference System) interface for
* AHRS (Attitude Heading Reference System) frontend interface for
* ArduPilot
*
*/
@ -36,14 +36,10 @@
#define AP_AHRS_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif
#include "AP_AHRS.h"
#if AP_AHRS_SIM_ENABLED
#include <SITL/SITL.h>
#endif
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters

3
libraries/AP_AHRS/AP_AHRS_Backend.cpp
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@ -16,10 +16,13 @@
*/
#include "AP_AHRS.h"
#include "AP_AHRS_View.h"
#include <AP_Common/Location.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h>
extern const AP_HAL::HAL& hal;

7
libraries/AP_AHRS/AP_AHRS_Backend.h
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@ -22,11 +22,8 @@
#include <AP_Math/AP_Math.h>
#include <inttypes.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Param/AP_Param.h>
#include <AP_Common/Location.h>
class OpticalFlow;
#define AP_AHRS_TRIM_LIMIT 10.0f // maximum trim angle in degrees
@ -204,10 +201,10 @@ public:
}
//
virtual bool set_origin(const Location &loc) {
virtual bool set_origin(const struct Location &loc) {
return false;
}
virtual bool get_origin(Location &ret) const = 0;
virtual bool get_origin(struct Location &ret) const = 0;
// return a position relative to origin in meters, North/East/Down
// order. This will only be accurate if have_inertial_nav() is

1
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -25,6 +25,7 @@
#include <GCS_MAVLink/GCS.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal;