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Tidy EKF-related #include lists #14933

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merged 3 commits into from Aug 7, 2020
Merged

Tidy EKF-related #include lists #14933

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13a6569
AP_AHRS: correct includes
peterbarker Jul 29, 2020
6804b46
AP_NavEKF2: correct includes
peterbarker Jul 29, 2020
fdd78fb
AP_NavEKF3: correct includes
peterbarker Jul 29, 2020
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5 changes: 3 additions & 2 deletions libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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Expand Up @@ -21,11 +21,12 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_AHRS.h"
#include "AP_AHRS_View.h"
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Module/AP_Module.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>

#if AP_AHRS_NAVEKF_AVAILABLE

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4 changes: 1 addition & 3 deletions libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@@ -1,11 +1,9 @@
#include <AP_HAL/AP_HAL.h>

#include "AP_NavEKF2_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>

/*
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3 changes: 0 additions & 3 deletions libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
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Expand Up @@ -3,9 +3,6 @@
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>

#include <stdio.h>

extern const AP_HAL::HAL& hal;

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4 changes: 1 addition & 3 deletions libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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Expand Up @@ -3,9 +3,7 @@
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_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 <stdio.h>

Expand Down Expand Up @@ -580,4 +578,4 @@ void NavEKF2_core::runYawEstimatorCorrection()
void NavEKF2_core::EKFGSF_requestYawReset()
{
EKFGSF_yaw_reset_request_ms = imuSampleTime_ms;
}
}
4 changes: 0 additions & 4 deletions libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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Expand Up @@ -2,12 +2,8 @@

#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h>

#include <stdio.h>

extern const AP_HAL::HAL& hal;

/********************************************************
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3 changes: 0 additions & 3 deletions libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@@ -1,6 +1,5 @@
#include <AP_HAL/AP_HAL.h>

#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
Expand All @@ -11,8 +10,6 @@
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h>

#include <stdio.h>

extern const AP_HAL::HAL& hal;


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4 changes: 0 additions & 4 deletions libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
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Expand Up @@ -2,10 +2,6 @@

#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>

#include <stdio.h>

extern const AP_HAL::HAL& hal;

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4 changes: 0 additions & 4 deletions libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@@ -1,14 +1,10 @@
#include <AP_HAL/AP_HAL.h>

#include "AP_NavEKF2.h"
#include "AP_NavEKF2_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>

#include <stdio.h>

extern const AP_HAL::HAL& hal;


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2 changes: 0 additions & 2 deletions libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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Expand Up @@ -2,8 +2,6 @@

#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
#include <AP_GPS/AP_GPS.h>
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9 changes: 0 additions & 9 deletions libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp
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@@ -1,14 +1,5 @@
#include <AP_HAL/AP_HAL.h>

#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h>

#include <stdio.h>

extern const AP_HAL::HAL& hal;

/********************************************************
* FUSE MEASURED_DATA *
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3 changes: 0 additions & 3 deletions libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
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@@ -1,14 +1,11 @@
#include <AP_HAL/AP_HAL.h>

#include "AP_NavEKF2.h"
#include "AP_NavEKF2_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 <stdio.h>

extern const AP_HAL::HAL& hal;


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3 changes: 0 additions & 3 deletions libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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Expand Up @@ -3,12 +3,9 @@
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_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 <stdio.h>

extern const AP_HAL::HAL& hal;

#define earthRate 0.000072921f // earth rotation rate (rad/sec)
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8 changes: 4 additions & 4 deletions libraries/AP_NavEKF2/AP_NavEKF2_core.h
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Expand Up @@ -29,12 +29,12 @@

#include <AP_Common/Location.h>
#include <AP_Math/AP_Math.h>
#include "AP_NavEKF2.h"
#include <stdio.h>
#include <AP_Math/vectorN.h>
#include <AP_NavEKF/AP_NavEKF_core_common.h>
#include <AP_NavEKF2/AP_NavEKF2_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
Expand Down Expand Up @@ -72,7 +72,7 @@ class NavEKF2_core : public NavEKF_core_common
{
public:
// Constructor
NavEKF2_core(NavEKF2 *_frontend);
NavEKF2_core(class NavEKF2 *_frontend);

// setup this core backend
bool setup_core(uint8_t _imu_index, uint8_t _core_index);
Expand Down Expand Up @@ -363,7 +363,7 @@ class NavEKF2_core : public NavEKF_core_common
EKFGSF_yaw *yawEstimator;

// Reference to the global EKF frontend for parameters
NavEKF2 *frontend;
class NavEKF2 *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)
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5 changes: 2 additions & 3 deletions libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@@ -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>

/*
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1 change: 0 additions & 1 deletion libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
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Expand Up @@ -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;

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2 changes: 0 additions & 2 deletions libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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Expand Up @@ -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;

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7 changes: 0 additions & 7 deletions libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
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@@ -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
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2 changes: 0 additions & 2 deletions libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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Expand Up @@ -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;
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3 changes: 1 addition & 2 deletions libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@@ -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;

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2 changes: 0 additions & 2 deletions libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
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Expand Up @@ -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;
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2 changes: 0 additions & 2 deletions libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@@ -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>

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2 changes: 0 additions & 2 deletions libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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Expand Up @@ -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>
Expand Down
7 changes: 0 additions & 7 deletions libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
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@@ -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 *
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1 change: 0 additions & 1 deletion libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
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@@ -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>
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1 change: 0 additions & 1 deletion libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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Expand Up @@ -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>
Expand Down
7 changes: 4 additions & 3 deletions libraries/AP_NavEKF3/AP_NavEKF3_core.h
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Expand Up @@ -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
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -445,7 +446,7 @@ class NavEKF3_core : public NavEKF_core_common
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)
Expand Down