From d49f10d2e58f62729812aeb7bec6b445c773ba44 Mon Sep 17 00:00:00 2001
From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
Date: Tue, 11 Aug 2015 16:28:41 +1000
Subject: [PATCH] AC_AttitudeControl: standardize inclusion of libaries headers

This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
---
 .../AC_AttitudeControl/AC_AttitudeControl.cpp |  4 ++--
 .../AC_AttitudeControl/AC_AttitudeControl.h   | 16 +++++++--------
 .../AC_AttitudeControl_Heli.cpp               |  2 +-
 .../AC_AttitudeControl_Heli.h                 |  8 ++++----
 .../AC_AttitudeControl_Multi.cpp              |  4 ++--
 .../AC_AttitudeControl_Multi.h                |  4 ++--
 .../AC_AttitudeControl/AC_PosControl.cpp      |  6 +++---
 libraries/AC_AttitudeControl/AC_PosControl.h  | 20 +++++++++----------
 8 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 3b858c51ee..22d6939a27 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -1,8 +1,8 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
 #include "AC_AttitudeControl.h"
-#include <AP_HAL.h>
-#include <AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
 
 // table of user settable parameters
 const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 6e99ef7d7b..de06b021b6 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -6,14 +6,14 @@
 #ifndef AC_AttitudeControl_H
 #define AC_AttitudeControl_H
 
-#include <AP_Common.h>
-#include <AP_Param.h>
-#include <AP_Math.h>
-#include <AP_InertialSensor.h>
-#include <AP_AHRS.h>
-#include <AP_Motors.h>
-#include <AC_PID.h>
-#include <AC_P.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Motors/AP_Motors.h>
+#include <AC_PID/AC_PID.h>
+#include <AC_PID/AC_P.h>
 
 // To-Do: change the name or move to AP_Math?
 #define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f                   // constant to convert from radians to centi-degrees
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index bc9fa7fbb4..3552005c83 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -1,7 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
 #include "AC_AttitudeControl_Heli.h"
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 // table of user settable parameters
 const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
index 60c2cf9963..5c739efd4c 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -6,10 +6,10 @@
 #ifndef AC_ATTITUDECONTROL_HELI_H
 #define AC_ATTITUDECONTROL_HELI_H
 
-#include <AC_AttitudeControl.h>
-#include <AP_MotorsHeli.h>
-#include <AC_HELI_PID.h>
-#include <Filter.h>
+#include "AC_AttitudeControl.h"
+#include <AP_Motors/AP_MotorsHeli.h>
+#include <AC_PID/AC_HELI_PID.h>
+#include <Filter/Filter.h>
 
 #define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE  0.02f
 #define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER          10.0f
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
index 62a75342d0..223daa9cac 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@@ -1,8 +1,8 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
 #include "AC_AttitudeControl_Multi.h"
-#include <AP_HAL.h>
-#include <AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
 
 // returns a throttle including compensation for roll/pitch angle
 // throttle value should be 0 ~ 1000
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
index 7632a9ad05..a78aaa48c0 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
@@ -6,8 +6,8 @@
 #ifndef AC_AttitudeControl_Multi_H
 #define AC_AttitudeControl_Multi_H
 
-#include <AC_AttitudeControl.h>
-#include <AP_MotorsMulticopter.h>
+#include "AC_AttitudeControl.h"
+#include <AP_Motors/AP_MotorsMulticopter.h>
 
 class AC_AttitudeControl_Multi : public AC_AttitudeControl {
 public:
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 62daae5ea8..5a8043398c 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -1,7 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-#include <AP_HAL.h>
-#include <AC_PosControl.h>
-#include <AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
+#include "AC_PosControl.h"
+#include <AP_Math/AP_Math.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index 488b14dbc0..3b6594b6e5 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -2,16 +2,16 @@
 #ifndef AC_POSCONTROL_H
 #define AC_POSCONTROL_H
 
-#include <AP_Common.h>
-#include <AP_Param.h>
-#include <AP_Math.h>
-#include <AC_PID.h>             // PID library
-#include <AC_PI_2D.h>           // PID library (2-axis)
-#include <AC_P.h>               // P library
-#include <AP_InertialNav.h>     // Inertial Navigation library
-#include <AC_AttitudeControl.h> // Attitude control library
-#include <AP_Motors.h>          // motors library
-#include <AP_Vehicle.h>         // common vehicle parameters
+#include <AP_Common/AP_Common.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Math/AP_Math.h>
+#include <AC_PID/AC_PID.h>             // PID library
+#include <AC_PID/AC_PI_2D.h>           // PID library (2-axis)
+#include <AC_PID/AC_P.h>               // P library
+#include <AP_InertialNav/AP_InertialNav.h>     // Inertial Navigation library
+#include "AC_AttitudeControl.h" // Attitude control library
+#include <AP_Motors/AP_Motors.h>          // motors library
+#include <AP_Vehicle/AP_Vehicle.h>         // common vehicle parameters
 
 
 // position controller default definitions