From 2d161e35941fb8b25c00c6845b99d020ed289745 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Thu, 4 Apr 2019 03:50:00 -0700
Subject: [PATCH] AP_Mount: Remove unneeded headers

---
 libraries/AP_Mount/AP_Mount.h           | 5 +----
 libraries/AP_Mount/AP_Mount_Backend.cpp | 9 ++-------
 libraries/AP_Mount/AP_Mount_Backend.h   | 4 ++--
 3 files changed, 5 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index 46ac4cc559..a22c57ec1c 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -21,12 +21,9 @@
 
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
-#include <AP_GPS/AP_GPS.h>
-#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Common/Location.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
-#include <RC_Channel/RC_Channel.h>
 #include <AP_SerialManager/AP_SerialManager.h>
-#include <AP_Logger/AP_Logger.h>
 
 // maximum number of mounts
 #define AP_MOUNT_MAX_INSTANCES          1
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index 574cf862ed..bb28b1c387 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -1,4 +1,5 @@
 #include "AP_Mount_Backend.h"
+#include <AP_AHRS/AP_AHRS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -124,16 +125,10 @@ void AP_Mount_Backend::update_targets_from_rc()
     }
 }
 
-// returns the angle (degrees*100) that the RC_Channel input is receiving
-int32_t AP_Mount_Backend::angle_input(const RC_Channel* rc, int16_t angle_min, int16_t angle_max)
-{
-    return (rc->norm_input() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min;
-}
-
 // returns the angle (radians) that the RC_Channel input is receiving
 float AP_Mount_Backend::angle_input_rad(const RC_Channel* rc, int16_t angle_min, int16_t angle_max)
 {
-    return radians(angle_input(rc, angle_min, angle_max)*0.01f);
+    return radians(((rc->norm_input() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min)*0.01f);
 }
 
 // calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index ed77ffebfb..7e41e8b3eb 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -21,6 +21,7 @@
 
 #include <AP_Common/AP_Common.h>
 #include "AP_Mount.h"
+#include <RC_Channel/RC_Channel.h>
 
 class AP_Mount_Backend
 {
@@ -82,8 +83,7 @@ protected:
     // update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver
     void update_targets_from_rc();
 
-    // angle_input, angle_input_rad - convert RC input into an earth-frame target angle
-    int32_t angle_input(const RC_Channel* rc, int16_t angle_min, int16_t angle_max);
+    // angle_input_rad - convert RC input into an earth-frame target angle
     float angle_input_rad(const RC_Channel* rc, int16_t angle_min, int16_t angle_max);
 
     // calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target