From cf9f060db8938b751dc12c2b67bd505b7016165f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 19 Oct 2021 13:15:00 +1100
Subject: [PATCH] AP_InertialNav: handle renaming of AP_InertialNav_NavEKF to
 AP_InertialNav

---
 libraries/AP_InertialNav/AP_InertialNav.cpp | 16 ++++++++--------
 libraries/AP_InertialNav/AP_InertialNav.h   | 21 ++++++++++-----------
 2 files changed, 18 insertions(+), 19 deletions(-)

diff --git a/libraries/AP_InertialNav/AP_InertialNav.cpp b/libraries/AP_InertialNav/AP_InertialNav.cpp
index 99ea36a9cb..b037d629fa 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav.cpp
@@ -1,6 +1,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Baro/AP_Baro.h>
-#include "AP_InertialNav_NavEKF.h"
+#include "AP_InertialNav.h"
 
 /*
   A wrapper around the AP_InertialNav class which uses the NavEKF
@@ -11,7 +11,7 @@
 /**
    update internal state
 */
-void AP_InertialNav_NavEKF::update(bool high_vibes)
+void AP_InertialNav::update(bool high_vibes)
 {
     // get the NE position relative to the local earth frame origin
     Vector2f posNE;
@@ -44,7 +44,7 @@ void AP_InertialNav_NavEKF::update(bool high_vibes)
 /**
  * get_filter_status : returns filter status as a series of flags
  */
-nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
+nav_filter_status AP_InertialNav::get_filter_status() const
 {
     nav_filter_status status;
     _ahrs_ekf.get_filter_status(status);
@@ -56,7 +56,7 @@ nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
  *
  * @return
  */
-const Vector3f &AP_InertialNav_NavEKF::get_position(void) const 
+const Vector3f &AP_InertialNav::get_position(void) const 
 {
     return _relpos_cm;
 }
@@ -69,7 +69,7 @@ const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
  * 				.y : longitude velocity in cm/s
  * 				.z : vertical  velocity in cm/s
  */
-const Vector3f &AP_InertialNav_NavEKF::get_velocity() const
+const Vector3f &AP_InertialNav::get_velocity() const
 {
     return _velocity_cm;
 }
@@ -79,7 +79,7 @@ const Vector3f &AP_InertialNav_NavEKF::get_velocity() const
  *
  * @returns the current horizontal speed in cm/s
  */
-float AP_InertialNav_NavEKF::get_speed_xy() const
+float AP_InertialNav::get_speed_xy() const
 {
     return _velocity_cm.xy().length();
 }
@@ -88,7 +88,7 @@ float AP_InertialNav_NavEKF::get_speed_xy() const
  * get_altitude - get latest altitude estimate in cm
  * @return
  */
-float AP_InertialNav_NavEKF::get_altitude() const
+float AP_InertialNav::get_altitude() const
 {
     return _relpos_cm.z;
 }
@@ -100,7 +100,7 @@ float AP_InertialNav_NavEKF::get_altitude() const
  *
  * @return climbrate in cm/s
  */
-float AP_InertialNav_NavEKF::get_velocity_z() const
+float AP_InertialNav::get_velocity_z() const
 {
     return _velocity_cm.z;
 }
diff --git a/libraries/AP_InertialNav/AP_InertialNav.h b/libraries/AP_InertialNav/AP_InertialNav.h
index 6bd59f0b0d..23d8ea33b2 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.h
+++ b/libraries/AP_InertialNav/AP_InertialNav.h
@@ -5,27 +5,26 @@
  */
 #pragma once
 
+#include <AP_AHRS/AP_AHRS.h>
 #include <AP_NavEKF/AP_Nav_Common.h>              // definitions shared by inertial and ekf nav filters
-#include "AP_InertialNav.h"
 
-class AP_InertialNav_NavEKF : public AP_InertialNav
+class AP_InertialNav
 {
 public:
     // Constructor
-    AP_InertialNav_NavEKF(AP_AHRS &ahrs) :
-        AP_InertialNav(),
+    AP_InertialNav(AP_AHRS &ahrs) :
         _ahrs_ekf(ahrs)
         {}
 
     /**
        update internal state
     */
-    void        update(bool high_vibes = false) override;
+    void        update(bool high_vibes = false);
 
     /**
      * get_filter_status - returns filter status as a series of flags
      */
-    nav_filter_status get_filter_status() const override;
+    nav_filter_status get_filter_status() const;
 
     /**
      * get_position - returns the current position relative to the home location in cm.
@@ -34,7 +33,7 @@ public:
      *
      * @return
      */
-    const Vector3f&    get_position() const override;
+    const Vector3f&    get_position() const;
 
     /**
      * get_velocity - returns the current velocity in cm/s
@@ -44,20 +43,20 @@ public:
      * 				.y : longitude velocity in cm/s
      * 				.z : vertical  velocity in cm/s
      */
-    const Vector3f&    get_velocity() const override;
+    const Vector3f&    get_velocity() const;
 
     /**
      * get_speed_xy - returns the current horizontal speed in cm/s
      *
      * @returns the current horizontal speed in cm/s
      */
-    float        get_speed_xy() const override;
+    float        get_speed_xy() const;
 
     /**
      * get_altitude - get latest altitude estimate in cm
      * @return
      */
-    float       get_altitude() const override;
+    float       get_altitude() const;
 
     /**
      * get_velocity_z - returns the current climbrate.
@@ -66,7 +65,7 @@ public:
      *
      * @return climbrate in cm/s
      */
-    float       get_velocity_z() const override;
+    float       get_velocity_z() const;
 
 private:
     Vector3f _relpos_cm;   // NEU