From c46a50f4281ab941028977589216b7f1a0830433 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_NavEKF2: stop using GCS_MAVLINK.h in header files

... by passing through a reference to a link object instead
---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp         | 4 ++--
 libraries/AP_NavEKF2/AP_NavEKF2.h           | 3 +--
 libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp | 7 +++++--
 libraries/AP_NavEKF2/AP_NavEKF2_core.h      | 3 +--
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 5add807783..b9a3b17126 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1274,10 +1274,10 @@ void  NavEKF2::getFilterGpsStatus(nav_gps_status &status) const
 }
 
 // send an EKF_STATUS_REPORT message to GCS
-void NavEKF2::send_status_report(mavlink_channel_t chan) const
+void NavEKF2::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_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index 20362c67b7..8f475a06b1 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -25,7 +25,6 @@
 #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>
 
 class NavEKF2_core;
@@ -216,7 +215,7 @@ 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_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 71ed9127b3..aadafd00d9 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -3,6 +3,7 @@
 #include "AP_NavEKF2_core.h"
 #include <AP_DAL/AP_DAL.h>
 #include <AP_AHRS/AP_AHRS.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -492,8 +493,9 @@ void  NavEKF2_core::getFilterGpsStatus(nav_gps_status &faults) const
     faults.flags.bad_horiz_vel      = gpsCheckStatus.bad_horiz_vel; // The GPS horizontal speed is excessive (check assumes the vehicle is static)
 }
 
+#if HAL_GCS_ENABLED
 // send an EKF_STATUS message to GCS
-void NavEKF2_core::send_status_report(mavlink_channel_t chan) const
+void NavEKF2_core::send_status_report(GCS_MAVLINK &link) const
 {
     // prepare flags
     uint16_t flags = 0;
@@ -550,8 +552,9 @@ void NavEKF2_core::send_status_report(mavlink_channel_t chan) const
     }
 
     // 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 *NavEKF2_core::prearm_failure_reason(void) const
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index e8987499e7..1a2dc6e840 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -29,7 +29,6 @@
 #include <AP_Math/vectorN.h>
 #include <AP_NavEKF/AP_NavEKF_core_common.h>
 #include <AP_NavEKF/EKF_Buffer.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_DAL/AP_DAL.h>
 
 #include "AP_NavEKF/EKFGSF_yaw.h"
@@ -247,7 +246,7 @@ 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