AP_GPS: Remove stuff from headers

libraries/AP_GPS/AP_GPS.cpp

@@ -20,6 +20,7 @@
 #include <AP_Notify/AP_Notify.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_RTC/AP_RTC.h>
 #include <climits>
 
 #include "AP_GPS_NOVA.h"
@@ -42,6 +43,10 @@
 #include "AP_GPS_UAVCAN.h"
 #endif
 
+#include <AP_Logger/AP_Logger.h>
+
+#define GPS_RTK_INJECT_TO_ALL 127
+#define GPS_MAX_RATE_MS 200 // maximum value of rate_ms (i.e. slowest update rate) is 5hz or 200ms
 #define GPS_BAUD_TIME_MS 1200
 #define GPS_TIMEOUT_MS 4000u
 
@@ -1103,7 +1108,7 @@ void AP_GPS::Write_AP_Logger_Log_Startup_messages()
 bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const
 {
     // always enusre a lag is provided
-    lag_sec = GPS_WORST_LAG_SEC;
+    lag_sec = 0.22f;
 
     if (instance >= GPS_MAX_INSTANCES) {
         return false;
@@ -1541,7 +1546,9 @@ bool AP_GPS::is_healthy(uint8_t instance) const
         return false;
     }
 
-    bool last_msg_valid = last_message_delta_time_ms(instance) < GPS_MAX_DELTA_MS;
+    const uint16_t gps_max_delta_ms = 245; // 200 ms (5Hz) + 45 ms buffer
+
+    bool last_msg_valid = last_message_delta_time_ms(instance) < gps_max_delta_ms;
 
     if (instance == GPS_BLENDED_INSTANCE) {
         return last_msg_valid && blend_health_check();

libraries/AP_GPS/AP_GPS.h

@@ -19,11 +19,8 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include <AP_Param/AP_Param.h>
-#include <AP_Math/AP_Math.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include "GPS_detect_state.h"
 #include <AP_SerialManager/AP_SerialManager.h>
-#include <AP_RTC/AP_RTC.h>
 
 /**
    maximum number of GPS instances available on this platform. If more
@@ -32,11 +29,7 @@
 #define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data
 #define GPS_MAX_INSTANCES  (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data
 #define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS  // the virtual blended GPS is always the highest instance (2)
-#define GPS_RTK_INJECT_TO_ALL 127
-#define GPS_MAX_RATE_MS 200 // maximum value of rate_ms (i.e. slowest update rate) is 5hz or 200ms
 #define GPS_UNKNOWN_DOP UINT16_MAX // set unknown DOP's to maximum value, which is also correct for MAVLink
-#define GPS_WORST_LAG_SEC 0.22f // worst lag value any GPS driver is expected to return, expressed in seconds
-#define GPS_MAX_DELTA_MS 245 // 200 ms (5Hz) + 45 ms buffer
 
 // the number of GPS leap seconds
 #define GPS_LEAPSECONDS_MILLIS 18000ULL
@@ -545,7 +538,7 @@ private:
     Vector2f _NE_pos_offset_m[GPS_MAX_RECEIVERS]; // Filtered North,East position offset from GPS instance to blended solution in _output_state.location (m)
     float _hgt_offset_cm[GPS_MAX_RECEIVERS]; // Filtered height offset from GPS instance relative to blended solution in _output_state.location (cm)
     Vector3f _blended_antenna_offset; // blended antenna offset
-    float _blended_lag_sec = 0.001f * GPS_MAX_RATE_MS; // blended receiver lag in seconds
+    float _blended_lag_sec; // blended receiver lag in seconds
     float _blend_weights[GPS_MAX_RECEIVERS]; // blend weight for each GPS. The blend weights must sum to 1.0 across all instances.
     uint32_t _last_time_updated[GPS_MAX_RECEIVERS]; // the last value of state.last_gps_time_ms read for that GPS instance - used to detect new data.
     float _omega_lpf; // cutoff frequency in rad/sec of LPF applied to position offsets

libraries/AP_GPS/GPS_Backend.cpp

@@ -15,6 +15,7 @@
 
 #include "AP_GPS.h"
 #include "GPS_Backend.h"
+#include <AP_Logger/AP_Logger.h>
 
 #define GPS_BACKEND_DEBUGGING 0