AP_AHRS: include cleanups

libraries/AP_AHRS/AP_AHRS.cpp

@@ -22,9 +22,11 @@
 #include "AP_AHRS.h"
 #include "AP_AHRS_View.h"
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 #include <AP_Module/AP_Module.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
+#include <AP_Compass/AP_Compass.h>
 #include <AP_InternalError/AP_InternalError.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Notify/AP_Notify.h>

libraries/AP_AHRS/AP_AHRS.h

@@ -16,7 +16,7 @@
  */
 
 /*
- *  NavEKF based AHRS (Attitude Heading Reference System) interface for
+ *  AHRS (Attitude Heading Reference System) frontend interface for
  *  ArduPilot
  *
  */
@@ -36,14 +36,10 @@
 #define AP_AHRS_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
 #endif
 
-#include "AP_AHRS.h"
-
 #if AP_AHRS_SIM_ENABLED
 #include <SITL/SITL.h>
 #endif
 
-#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
-
 #include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_NavEKF3/AP_NavEKF3.h>
 #include <AP_NavEKF/AP_Nav_Common.h>              // definitions shared by inertial and ekf nav filters

libraries/AP_AHRS/AP_AHRS_Backend.cpp

@@ -16,10 +16,13 @@
 */
 #include "AP_AHRS.h"
 #include "AP_AHRS_View.h"
+
+#include <AP_Common/Location.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
+#include <AP_Compass/AP_Compass.h>
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_AHRS/AP_AHRS_Backend.h

@@ -22,11 +22,8 @@
 
 #include <AP_Math/AP_Math.h>
 #include <inttypes.h>
-#include <AP_Compass/AP_Compass.h>
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
-#include <AP_Param/AP_Param.h>
-#include <AP_Common/Location.h>
 
 class OpticalFlow;
 #define AP_AHRS_TRIM_LIMIT 10.0f        // maximum trim angle in degrees
@@ -204,10 +201,10 @@ public:
     }
 
     //
-    virtual bool set_origin(const Location &loc) {
+    virtual bool set_origin(const struct Location &loc) {
         return false;
     }
-    virtual bool get_origin(Location &ret) const = 0;
+    virtual bool get_origin(struct Location &ret) const = 0;
 
     // return a position relative to origin in meters, North/East/Down
     // order. This will only be accurate if have_inertial_nav() is

libraries/AP_AHRS/AP_AHRS_DCM.cpp

@@ -25,6 +25,7 @@
 #include <GCS_MAVLink/GCS.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;