From 6e3b502110cf76a8bea19f0be459010ff5391aba Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 25 Nov 2021 20:05:40 +0000
Subject: [PATCH] AP_InertialSensor: inline vector ops for backends and temp
 cal

---
 libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp    | 2 ++
 libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp | 2 ++
 libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp    | 3 ++-
 3 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 33ad3a571d..bccd0aa5d9 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -1,3 +1,5 @@
+#define AP_INLINE_VECTOR_OPS
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor.h"
 #include "AP_InertialSensor_Backend.h"
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
index c5d8fef0c9..70c02d4609 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@@ -16,6 +16,7 @@
   driver for all supported Invensense IMUs, including
   MPU6000, MPU9250,  ICM20608, ICM20602, ICM20601, ICM20789, ICM20689
  */
+#define AP_INLINE_VECTOR_OPS
 
 #include <assert.h>
 #include <utility>
@@ -422,6 +423,7 @@ bool AP_InertialSensor_Invensense::get_output_banner(char* banner, uint8_t banne
     return false;
 }
 
+
 /*
   publish any pending data
  */
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
index c672683a48..e344d59d2d 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
@@ -16,10 +16,11 @@
   IMU temperature calibration handling
  */
 
+#define AP_INLINE_VECTOR_OPS
+
 #include "AP_InertialSensor.h"
 
 #if HAL_INS_TEMPERATURE_CAL_ENABLE
-
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Common/ExpandingString.h>