AP_ExternalAHRS: stop using GCS_MAVLINK.h in header files

... by passing through a reference to a link object instead

libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp

@@ -194,10 +194,10 @@ Vector3f AP_ExternalAHRS::get_accel(void)
 }
 
 // send an EKF_STATUS message to GCS
-void AP_ExternalAHRS::send_status_report(mavlink_channel_t chan) const
+void AP_ExternalAHRS::send_status_report(GCS_MAVLINK &link) const
 {
     if (backend) {
-        backend->send_status_report(chan);
+        backend->send_status_report(link);
     }
 }
 

libraries/AP_ExternalAHRS/AP_ExternalAHRS.h

@@ -29,8 +29,6 @@
 
 #if HAL_EXTERNAL_AHRS_ENABLED
 
-#include <GCS_MAVLink/GCS_MAVLink.h>
-
 class AP_ExternalAHRS_backend;
 
 class AP_ExternalAHRS {
@@ -91,7 +89,7 @@ public:
     void get_filter_status(nav_filter_status &status) const;
     Vector3f get_gyro(void);
     Vector3f get_accel(void);
-    void send_status_report(mavlink_channel_t chan) const;
+    void send_status_report(class GCS_MAVLINK &link) const;
 
     // update backend
     void update();

libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp

@@ -491,7 +491,7 @@ void AP_ExternalAHRS_LORD::get_filter_status(nav_filter_status &status) const
     }
 }
 
-void AP_ExternalAHRS_LORD::send_status_report(mavlink_channel_t chan) const
+void AP_ExternalAHRS_LORD::send_status_report(GCS_MAVLINK &link) const
 {
     // prepare flags
     uint16_t flags = 0;
@@ -536,7 +536,7 @@ void AP_ExternalAHRS_LORD::send_status_report(mavlink_channel_t chan) const
     const float pos_gate = 4; // represents hz value data is posted at
     const float hgt_gate = 4; // represents hz value data is posted at
     const float mag_var = 0; //we may need to change this to be like the other gates, set to 0 because mag is ignored by the ins filter in vectornav
-    mavlink_msg_ekf_status_report_send(chan, flags,
+    mavlink_msg_ekf_status_report_send(link.get_chan(), flags,
                                        gnss_data.speed_accuracy/vel_gate, gnss_data.horizontal_position_accuracy/pos_gate, gnss_data.vertical_position_accuracy/hgt_gate,
                                        mag_var, 0, 0);
 

libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h

@@ -40,7 +40,7 @@ public:
     bool initialised(void) const override;
     bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
     void get_filter_status(nav_filter_status &status) const override;
-    void send_status_report(mavlink_channel_t chan) const override;
+    void send_status_report(class GCS_MAVLINK &link) const override;
 
     // check for new data
     void update() override {

libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp

@@ -417,7 +417,7 @@ void AP_ExternalAHRS_VectorNav::get_filter_status(nav_filter_status &status) con
 }
 
 // send an EKF_STATUS message to GCS
-void AP_ExternalAHRS_VectorNav::send_status_report(mavlink_channel_t chan) const
+void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
 {
     if (!last_pkt1) {
         return;
@@ -466,7 +466,7 @@ void AP_ExternalAHRS_VectorNav::send_status_report(mavlink_channel_t chan) const
     const float pos_gate = 5;
     const float hgt_gate = 5;
     const float mag_var = 0;
-    mavlink_msg_ekf_status_report_send(chan, flags,
+    mavlink_msg_ekf_status_report_send(link.get_chan(), flags,
                                        pkt1.velU/vel_gate, pkt1.posU/pos_gate, pkt1.posU/hgt_gate,
                                        mag_var, 0, 0);
 }

libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h

@@ -22,8 +22,6 @@
 
 #if HAL_EXTERNAL_AHRS_ENABLED
 
-#include <GCS_MAVLink/GCS_MAVLink.h>
-
 class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
 
 public:
@@ -37,7 +35,7 @@ public:
     bool initialised(void) const override;
     bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
     void get_filter_status(nav_filter_status &status) const override;
-    void send_status_report(mavlink_channel_t chan) const override;
+    void send_status_report(class GCS_MAVLINK &link) const override;
 
     // check for new data
     void update() override {

libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h

@@ -34,7 +34,7 @@ public:
     virtual bool initialised(void) const = 0;
     virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const = 0;
     virtual void get_filter_status(nav_filter_status &status) const {}
-    virtual void send_status_report(mavlink_channel_t chan) const {}
+    virtual void send_status_report(class GCS_MAVLINK &link) const {}
 
     // check for new data
     virtual void update() = 0;