From 33f95138541594675023288bace0dacb4d9a18d2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 30 Aug 2024 18:21:33 +1000
Subject: [PATCH] AP_NavEKF3: correct includes

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp               | 2 ++
 libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp  | 5 +++--
 libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp | 5 +++--
 libraries/AP_NavEKF3/AP_NavEKF3_core.h            | 2 +-
 libraries/AP_NavEKF3/LogStructure.h               | 1 +
 5 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index fbf4796a67..e3a8433b9c 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1,3 +1,5 @@
+#include "AP_NavEKF3.h"
+
 #include <AP_HAL/AP_HAL.h>
 
 #include "AP_NavEKF3_core.h"
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index 070e1f6460..9e1eab32eb 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -1,6 +1,7 @@
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_NavEKF3_core.h"
+
+#include "AP_NavEKF3.h"
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_DAL/AP_DAL.h>
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
index 3e5651b43b..3fd1c80e2b 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
@@ -1,6 +1,7 @@
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_NavEKF3_core.h"
+
+#include "AP_NavEKF3.h"
+
 #include <AP_DAL/AP_DAL.h>
 
 /* Monitor GPS data to see if quality is good enough to initialise the EKF
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index c7bef11e76..ee4d17a6f5 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -128,7 +128,7 @@ class NavEKF3_core : public NavEKF_core_common
 {
 public:
     // Constructor
-    NavEKF3_core(class NavEKF3 *_frontend, AP_DAL &dal);
+    NavEKF3_core(class NavEKF3 *_frontend, class AP_DAL &dal);
 
     // setup this core backend
     bool setup_core(uint8_t _imu_index, uint8_t _core_index);
diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h
index a5629ea3f3..9218c6d60b 100644
--- a/libraries/AP_NavEKF3/LogStructure.h
+++ b/libraries/AP_NavEKF3/LogStructure.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_Logger/LogStructure.h>
+#include <AP_AHRS/AP_AHRS_config.h>
 
 #define LOG_IDS_FROM_NAVEKF3 \
     LOG_XKF0_MSG, \