From a8a952d6566d32a3deb1cfe79054d3cec309c67f Mon Sep 17 00:00:00 2001
From: Shiv Tyagi <shivtyagi3015@gmail.com>
Date: Fri, 19 Aug 2022 16:25:01 +0530
Subject: [PATCH] Rover: include fix in mode.h

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
---
 Rover/Rover.h            | 14 ++++++++++----
 Rover/mode.cpp           |  1 -
 Rover/mode.h             | 10 +---------
 Rover/mode_acro.cpp      |  1 -
 Rover/mode_auto.cpp      |  1 -
 Rover/mode_follow.cpp    |  1 -
 Rover/mode_guided.cpp    |  1 -
 Rover/mode_hold.cpp      |  1 -
 Rover/mode_loiter.cpp    |  1 -
 Rover/mode_manual.cpp    |  1 -
 Rover/mode_rtl.cpp       |  1 -
 Rover/mode_simple.cpp    |  1 -
 Rover/mode_smart_rtl.cpp |  1 -
 Rover/mode_steering.cpp  |  1 -
 14 files changed, 11 insertions(+), 25 deletions(-)

diff --git a/Rover/Rover.h b/Rover/Rover.h
index 9291c9e587..0a7ec01471 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -19,6 +19,7 @@
 
 #include <cmath>
 #include <stdarg.h>
+#include <stdint.h>
 
 // Libraries
 #include <AP_Common/AP_Common.h>
@@ -37,18 +38,21 @@
 #include <AP_Logger/AP_Logger.h>
 #include <AP_OSD/AP_OSD.h>
 #include <AR_Motors/AP_MotorsUGV.h>
+#include <AP_Mission/AP_Mission.h>
+#include <AP_Mission/AP_Mission_ChangeDetector.h>
+#include <AR_WPNav/AR_WPNav_OA.h>
+
+// Configuration
+#include "defines.h"
+#include "config.h"
 
 #if AP_SCRIPTING_ENABLED
 #include <AP_Scripting/AP_Scripting.h>
 #endif
 
 // Local modules
-#include "mode.h"
 #include "AP_Arming.h"
 #include "sailboat.h"
-// Configuration
-#include "config.h"
-#include "defines.h"
 #if ADVANCED_FAILSAFE == ENABLED
 #include "afs_rover.h"
 #endif
@@ -58,6 +62,8 @@
 #include "AP_Rally.h"
 #include "RC_Channel.h"                  // RC Channel Library
 
+#include "mode.h"
+
 class Rover : public AP_Vehicle {
 public:
     friend class GCS_MAVLINK_Rover;
diff --git a/Rover/mode.cpp b/Rover/mode.cpp
index b5b6935078..21765ebadf 100644
--- a/Rover/mode.cpp
+++ b/Rover/mode.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 Mode::Mode() :
diff --git a/Rover/mode.h b/Rover/mode.h
index c330aad0cd..496ec2c948 100644
--- a/Rover/mode.h
+++ b/Rover/mode.h
@@ -1,14 +1,6 @@
 #pragma once
 
-#include <stdint.h>
-
-#include <GCS_MAVLink/GCS_MAVLink.h>
-#include <AP_Math/AP_Math.h>
-#include <AP_Mission/AP_Mission.h>
-#include <AP_Mission/AP_Mission_ChangeDetector.h>
-#include <AR_WPNav/AR_WPNav_OA.h>
-
-#include "defines.h"
+#include "Rover.h"
 
 // pre-define ModeRTL so Auto can appear higher in this file
 class ModeRTL;
diff --git a/Rover/mode_acro.cpp b/Rover/mode_acro.cpp
index 5379be5fe4..d59f208f0a 100644
--- a/Rover/mode_acro.cpp
+++ b/Rover/mode_acro.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 void ModeAcro::update()
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index 419209fc2a..68cbdc35a4 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 #define AUTO_GUIDED_SEND_TARGET_MS 1000
diff --git a/Rover/mode_follow.cpp b/Rover/mode_follow.cpp
index 60075b537e..437cb53deb 100644
--- a/Rover/mode_follow.cpp
+++ b/Rover/mode_follow.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 // initialize follow mode
diff --git a/Rover/mode_guided.cpp b/Rover/mode_guided.cpp
index 0efac5af40..76f3436760 100644
--- a/Rover/mode_guided.cpp
+++ b/Rover/mode_guided.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 bool ModeGuided::_enter()
diff --git a/Rover/mode_hold.cpp b/Rover/mode_hold.cpp
index df2759a51c..ea989157e3 100644
--- a/Rover/mode_hold.cpp
+++ b/Rover/mode_hold.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 void ModeHold::update()
diff --git a/Rover/mode_loiter.cpp b/Rover/mode_loiter.cpp
index f1ba5ac277..918144c9fa 100644
--- a/Rover/mode_loiter.cpp
+++ b/Rover/mode_loiter.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 bool ModeLoiter::_enter()
diff --git a/Rover/mode_manual.cpp b/Rover/mode_manual.cpp
index 35aacfa9b5..1435aa2b92 100644
--- a/Rover/mode_manual.cpp
+++ b/Rover/mode_manual.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 void ModeManual::_exit()
diff --git a/Rover/mode_rtl.cpp b/Rover/mode_rtl.cpp
index 53ebefc0eb..b9a8ee4964 100644
--- a/Rover/mode_rtl.cpp
+++ b/Rover/mode_rtl.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 bool ModeRTL::_enter()
diff --git a/Rover/mode_simple.cpp b/Rover/mode_simple.cpp
index c91313134b..73bb4932a7 100644
--- a/Rover/mode_simple.cpp
+++ b/Rover/mode_simple.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 void ModeSimple::init_heading()
diff --git a/Rover/mode_smart_rtl.cpp b/Rover/mode_smart_rtl.cpp
index 62c3556ea4..0d083965e4 100644
--- a/Rover/mode_smart_rtl.cpp
+++ b/Rover/mode_smart_rtl.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 bool ModeSmartRTL::_enter()
diff --git a/Rover/mode_steering.cpp b/Rover/mode_steering.cpp
index d46e2c5fac..d86a155f35 100644
--- a/Rover/mode_steering.cpp
+++ b/Rover/mode_steering.cpp
@@ -1,4 +1,3 @@
-#include "mode.h"
 #include "Rover.h"
 
 void ModeSteering::update()