From 6b701ae3b3f7423a37ec43eae7b1049de3105674 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 29 Jul 2020 14:16:27 +1000
Subject: [PATCH] AP_NavEKF3: correct includes

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp               | 5 ++---
 libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp | 1 -
 libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp       | 2 --
 libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp      | 7 -------
 libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp     | 2 --
 libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp  | 3 +--
 libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp | 2 --
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp       | 2 --
 libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp  | 2 --
 libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp  | 7 -------
 libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp | 1 -
 libraries/AP_NavEKF3/AP_NavEKF3_core.cpp          | 1 -
 libraries/AP_NavEKF3/AP_NavEKF3_core.h            | 7 ++++---
 13 files changed, 7 insertions(+), 35 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 6702736580..0e8d03c6fd 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1,11 +1,10 @@
 #include <AP_HAL/AP_HAL.h>
 
 #include "AP_NavEKF3_core.h"
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
-#include <AP_GPS/AP_GPS.h>
-#include <AP_VisualOdom/AP_VisualOdom.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+
 #include <new>
 
 /*
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
index 06638bbddf..4de46f51cb 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
@@ -3,7 +3,6 @@
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index d1f2737e1a..00fb3677c0 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -3,9 +3,7 @@
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
-#include <AP_GPS/AP_GPS.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
index 05a9f7a4ac..6cecb869a3 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
@@ -1,11 +1,4 @@
-#include <AP_HAL/AP_HAL.h>
-
-#include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
-
-extern const AP_HAL::HAL& hal;
 
 // reset the body axis gyro bias states to zero and re-initialise the corresponding covariances
 // Assume that the calibration is performed to an accuracy of 0.5 deg/sec which will require averaging under static conditions
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index 216c62e96f..4a1b9124e3 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -2,8 +2,6 @@
 
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index af4cdbd0cc..8c56536eda 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -1,15 +1,14 @@
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
 #include <AP_Compass/AP_Compass.h>
+#include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
index de1acdc7b2..0d43744cbd 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
@@ -2,8 +2,6 @@
 
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index ac80d637ae..848dddb714 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -1,9 +1,7 @@
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 7740cd80f6..5f08b33c77 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -2,8 +2,6 @@
 
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
index cade37f7f4..bc8598cd14 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -1,12 +1,5 @@
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
-#include <GCS_MAVLink/GCS.h>
-
-extern const AP_HAL::HAL& hal;
 
 /********************************************************
 *                   FUSE MEASURED_DATA                  *
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
index e4b923d147..6e42d0a0f7 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
@@ -1,6 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle.h>
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 3fec2a531b..187c8176d4 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -3,7 +3,6 @@
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 42e25cb637..916ec8c168 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -28,11 +28,12 @@
 
 #include <AP_Common/Location.h>
 #include <AP_Math/AP_Math.h>
-#include "AP_NavEKF3.h"
 #include <AP_Math/vectorN.h>
 #include <AP_NavEKF/AP_NavEKF_core_common.h>
 #include <AP_NavEKF3/AP_NavEKF3_Buffer.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
+
 #include "AP_NavEKF/EKFGSF_yaw.h"
 
 // GPS pre-flight check bit locations
@@ -91,7 +92,7 @@ class NavEKF3_core : public NavEKF_core_common
 {
 public:
     // Constructor
-    NavEKF3_core(NavEKF3 *_frontend);
+    NavEKF3_core(class NavEKF3 *_frontend);
 
     // setup this core backend
     bool setup_core(uint8_t _imu_index, uint8_t _core_index);
@@ -445,7 +446,7 @@ private:
     EKFGSF_yaw *yawEstimator;
 
     // Reference to the global EKF frontend for parameters
-    NavEKF3 *frontend;
+    class NavEKF3 *frontend;
     uint8_t imu_index; // preferred IMU index
     uint8_t gyro_index_active; // active gyro index (in case preferred fails)
     uint8_t accel_index_active; // active accel index (in case preferred fails)