From 4bdac4afc5e2b54b2693f309839f1d65a214b86c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 7 Nov 2022 14:48:42 +1100
Subject: [PATCH] AP_Mount: include cleanups

---
 libraries/AP_Mount/AP_Mount_Alexmos.cpp        | 3 ---
 libraries/AP_Mount/AP_Mount_Gremsy.cpp         | 1 +
 libraries/AP_Mount/AP_Mount_Gremsy.h           | 2 --
 libraries/AP_Mount/AP_Mount_SToRM32.h          | 2 --
 libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp | 2 --
 libraries/AP_Mount/AP_Mount_SToRM32_serial.h   | 2 --
 libraries/AP_Mount/AP_Mount_Servo.cpp          | 3 +++
 libraries/AP_Mount/AP_Mount_Servo.h            | 2 --
 libraries/AP_Mount/AP_Mount_SoloGimbal.cpp     | 4 ----
 libraries/AP_Mount/AP_Mount_SoloGimbal.h       | 1 -
 10 files changed, 4 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.cpp b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
index 8a5213bd5f..065e7b8822 100644
--- a/libraries/AP_Mount/AP_Mount_Alexmos.cpp
+++ b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
@@ -2,9 +2,6 @@
 
 #if HAL_MOUNT_ALEXMOS_ENABLED
 #include <AP_SerialManager/AP_SerialManager.h>
-#include <AP_AHRS/AP_AHRS.h>
-
-extern const AP_HAL::HAL& hal;
 
 void AP_Mount_Alexmos::init()
 {
diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
index 73e54d370d..ec86471023 100644
--- a/libraries/AP_Mount/AP_Mount_Gremsy.cpp
+++ b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
@@ -2,6 +2,7 @@
 
 #if HAL_MOUNT_GREMSY_ENABLED
 
+#include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.h b/libraries/AP_Mount/AP_Mount_Gremsy.h
index 40f1acd591..43feb80e4a 100644
--- a/libraries/AP_Mount/AP_Mount_Gremsy.h
+++ b/libraries/AP_Mount/AP_Mount_Gremsy.h
@@ -11,8 +11,6 @@
 
 #if HAL_MOUNT_GREMSY_ENABLED
 
-#include <AP_HAL/AP_HAL.h>
-#include <AP_AHRS/AP_AHRS.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.h b/libraries/AP_Mount/AP_Mount_SToRM32.h
index 2f195b910b..4eac9b3ce3 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32.h
+++ b/libraries/AP_Mount/AP_Mount_SToRM32.h
@@ -13,8 +13,6 @@
 
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
-#include <RC_Channel/RC_Channel.h>
-#include <AP_AHRS/AP_AHRS.h>
 
 class AP_Mount_SToRM32 : public AP_Mount_Backend
 {
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
index e6502f878e..cfa5212633 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
@@ -6,8 +6,6 @@
 #include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 
-extern const AP_HAL::HAL& hal;
-
 AP_Mount_SToRM32_serial::AP_Mount_SToRM32_serial(AP_Mount &frontend, AP_Mount_Params &params, uint8_t instance) :
     AP_Mount_Backend(frontend, params, instance),
     _reply_type(ReplyType_UNKNOWN)
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.h b/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
index 5156f7d90a..88fa5b2faf 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
@@ -12,10 +12,8 @@
 #if HAL_MOUNT_STORM32SERIAL_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_AHRS/AP_AHRS.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
 
 #define AP_MOUNT_STORM32_SERIAL_RESEND_MS   1000    // resend angle targets to gimbal once per second
 
diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index fa7847862a..374208f19d 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -1,6 +1,9 @@
 #include "AP_Mount_Servo.h"
 #if HAL_MOUNT_SERVO_ENABLED
 
+#include <AP_AHRS/AP_AHRS.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
+
 extern const AP_HAL::HAL& hal;
 
 // init - performs any required initialisation for this instance
diff --git a/libraries/AP_Mount/AP_Mount_Servo.h b/libraries/AP_Mount/AP_Mount_Servo.h
index 8d1a2227b6..cb4e2c1869 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.h
+++ b/libraries/AP_Mount/AP_Mount_Servo.h
@@ -13,8 +13,6 @@
 
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
-#include <AP_AHRS/AP_AHRS.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
 #include <SRV_Channel/SRV_Channel.h>
 
 class AP_Mount_Servo : public AP_Mount_Backend
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index df48ddf7cc..7334f513ae 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -1,5 +1,3 @@
-#include <AP_HAL/AP_HAL.h>
-#include <AP_AHRS/AP_AHRS.h>
 #include "AP_Mount_SoloGimbal.h"
 #if HAL_SOLO_GIMBAL_ENABLED
 
@@ -8,8 +6,6 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/GCS.h>
 
-extern const AP_HAL::HAL& hal;
-
 AP_Mount_SoloGimbal::AP_Mount_SoloGimbal(AP_Mount &frontend, AP_Mount_Params &params, uint8_t instance) :
     AP_Mount_Backend(frontend, params, instance),
     _gimbal()
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.h b/libraries/AP_Mount/AP_Mount_SoloGimbal.h
index 8b845a27cf..87503e5f39 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.h
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.h
@@ -5,7 +5,6 @@
 
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_AHRS/AP_AHRS.h>
 
 #include "AP_Mount_Backend.h"
 #if HAL_SOLO_GIMBAL_ENABLED