AP_NavEKF2: correct includes

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -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>
 
 /*

libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp

@@ -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;
 

libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp

@@ -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>
 
@@ -580,4 +578,4 @@ void NavEKF2_core::runYawEstimatorCorrection()
 void NavEKF2_core::EKFGSF_requestYawReset()
 {
     EKFGSF_yaw_reset_request_ms = imuSampleTime_ms;
-}
+}

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -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;
 
 /********************************************************

libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp

@@ -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>
@@ -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;
 
 

libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp

@@ -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;
 

libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp

@@ -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;
 
 

libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp

@@ -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>

libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp

@@ -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                  *

libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp

@@ -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;
 
 

libraries/AP_NavEKF2/AP_NavEKF2_core.cpp

@@ -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)

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -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
@@ -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);
@@ -363,7 +363,7 @@ private:
     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)