From 73c6eabde2261b5545425f9bbb5b065872d9d6fb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Apr 2022 19:45:01 +1000
Subject: [PATCH] APM_Control: tidy includes

---
 libraries/APM_Control/AP_AutoTune.cpp |  1 +
 libraries/APM_Control/AP_AutoTune.h   | 11 +++++------
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index dffe4f0cf6..7b5444a790 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -25,6 +25,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Math/AP_Math.h>
+#include <AC_PID/AC_PID.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h
index 3e33272b26..1f3ba38011 100644
--- a/libraries/APM_Control/AP_AutoTune.h
+++ b/libraries/APM_Control/AP_AutoTune.h
@@ -1,10 +1,9 @@
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
 #include <AP_Logger/LogStructure.h>
-#include <AP_Param/AP_Param.h>
+
+#include <Filter/SlewLimiter.h>
 #include <AP_Vehicle/AP_Vehicle.h>
-#include <AC_PID/AC_PID.h>
 #include <Filter/ModeFilter.h>
 
 class AP_AutoTune
@@ -44,7 +43,7 @@ public:
 
 
     // constructor
-    AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms, AC_PID &rpid);
+    AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms, class AC_PID &rpid);
 
     // called when autotune mode is entered
     void start(void);
@@ -55,7 +54,7 @@ public:
 
     // update called whenever autotune mode is active. This is
     // called at the main loop rate
-    void update(AP_PIDInfo &pid_info, float scaler, float angle_err_deg);
+    void update(struct AP_PIDInfo &pid_info, float scaler, float angle_err_deg);
 
     // are we running?
     bool running;
@@ -63,7 +62,7 @@ public:
 private:
     // the current gains
     ATGains &current;
-    AC_PID &rpid;
+    class AC_PID &rpid;
 
     // what type of autotune is this
     ATType type;