From fd4a00a6541e8fab00c16ff6b1c5fd9b886eb0e4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 4 Mar 2022 14:29:49 +1100
Subject: [PATCH] ArduPlane: stop libraries including AP_Logger.h in .h files

AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
---
 ArduPlane/GCS_Mavlink.cpp | 4 ++--
 ArduPlane/GCS_Mavlink.h   | 2 +-
 ArduPlane/quadplane.h     | 1 +
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 07a23adeb3..6a2c762c2b 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -290,7 +290,7 @@ void GCS_MAVLINK_Plane::send_wind() const
 }
 
 // sends a single pid info over the provided channel
-void GCS_MAVLINK_Plane::send_pid_info(const AP_Logger::PID_Info *pid_info,
+void GCS_MAVLINK_Plane::send_pid_info(const AP_PIDInfo *pid_info,
                           const uint8_t axis, const float achieved)
 {
     if (pid_info == nullptr) {
@@ -322,7 +322,7 @@ void GCS_MAVLINK_Plane::send_pid_tuning()
 
     const Parameters &g = plane.g;
 
-    const AP_Logger::PID_Info *pid_info;
+    const AP_PIDInfo *pid_info;
     if (g.gcs_pid_mask & TUNING_BITS_ROLL) {
         pid_info = &plane.rollController.get_pid_info();
 #if HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 95fa3bca64..8518baccf5 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -41,7 +41,7 @@ protected:
 
 private:
 
-    void send_pid_info(const AP_Logger::PID_Info *pid_info, const uint8_t axis, const float achieved);
+    void send_pid_info(const AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);
 
     void handleMessage(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 33bbc2296b..9bd0fa9e27 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -18,6 +18,7 @@
 #include <AC_WPNav/AC_Loiter.h>
 #include <AC_Fence/AC_Fence.h>
 #include <AC_Avoidance/AC_Avoid.h>
+#include <AP_Logger/LogStructure.h>
 #include <AP_Proximity/AP_Proximity.h>
 #include "qautotune.h"
 #include "defines.h"