AP_InertialSensor: sanitize includes

Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.

With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.

Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:

	$ waf copter
	'copter' finished successfully (0.000s)
	Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
	[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
	[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
	[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
	[370/370] Linking build/minlure/bin/arducopter
	Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -2,13 +2,24 @@
 
 #include <assert.h>
 
-#include "AP_InertialSensor.h"
-
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
 #include <AP_Notify/AP_Notify.h>
 #include <AP_Vehicle/AP_Vehicle.h>
-#include <AP_Math/AP_Math.h>
+
+#include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
+#include "AP_InertialSensor_Flymaple.h"
+#include "AP_InertialSensor_HIL.h"
+#include "AP_InertialSensor_L3G4200D.h"
+#include "AP_InertialSensor_LSM9DS0.h"
+#include "AP_InertialSensor_MPU6000.h"
+#include "AP_InertialSensor_MPU9250.h"
+#include "AP_InertialSensor_PX4.h"
+#include "AP_InertialSensor_QURT.h"
+#include "AP_InertialSensor_SITL.h"
+#include "AP_InertialSensor_qflight.h"
 
 /*
   enable TIMING_DEBUG to track down scheduling issues with the main
@@ -45,7 +56,7 @@ extern const AP_HAL::HAL& hal;
 const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @Param: PRODUCT_ID
     // @DisplayName: IMU Product ID
-    // @Description: Which type of IMU is installed (read-only). 
+    // @Description: Which type of IMU is installed (read-only).
     // @User: Advanced
     // @Values: 0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux
     AP_GROUPINFO("PRODUCT_ID",  0, AP_InertialSensor, _product_id,   0),
@@ -339,7 +350,7 @@ AP_InertialSensor::AP_InertialSensor() :
         AP_HAL::panic("Too many inertial sensors");
     }
     _s_instance = this;
-    AP_Param::setup_object_defaults(this, var_info);        
+    AP_Param::setup_object_defaults(this, var_info);
     for (uint8_t i=0; i<INS_MAX_BACKENDS; i++) {
         _backends[i] = NULL;
     }
@@ -551,13 +562,13 @@ AP_InertialSensor::detect_backends(void)
 /*
   _calculate_trim - calculates the x and y trim angles. The
   accel_sample must be correctly scaled, offset and oriented for the
-  board 
+  board
 */
 bool AP_InertialSensor::_calculate_trim(const Vector3f &accel_sample, float& trim_roll, float& trim_pitch)
 {
     trim_pitch = atan2f(accel_sample.x, pythagorous2(accel_sample.y, accel_sample.z));
     trim_roll = atan2f(-accel_sample.y, -accel_sample.z);
-    if (fabsf(trim_roll) > radians(10) || 
+    if (fabsf(trim_roll) > radians(10) ||
         fabsf(trim_pitch) > radians(10)) {
         hal.console->println("trim over maximum of 10 degrees");
         return false;
@@ -682,7 +693,7 @@ bool AP_InertialSensor::calibrate_trim(float &trim_roll, float &trim_pitch)
 
 failed:
     _calibrating = false;
-    return false;    
+    return false;
 }
 
 /*
@@ -918,7 +929,7 @@ void AP_InertialSensor::update(void)
         }
 
         // adjust health status if a sensor has a non-zero error count
-        // but another sensor doesn't. 
+        // but another sensor doesn't.
         bool have_zero_accel_error_count = false;
         bool have_zero_gyro_error_count = false;
         for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
@@ -961,10 +972,10 @@ void AP_InertialSensor::update(void)
 
 /*
   wait for a sample to be available. This is the function that
-  determines the timing of the main loop in ardupilot. 
+  determines the timing of the main loop in ardupilot.
 
   Ideally this function would return at exactly the rate given by the
-  sample_rate argument given to AP_InertialSensor::init(). 
+  sample_rate argument given to AP_InertialSensor::init().
 
   The key output of this function is _delta_time, which is the time
   over which the gyro and accel integration will happen for this
@@ -999,7 +1010,7 @@ void AP_InertialSensor::wait_for_sample(void)
             timing_printf("shortsleep %u\n", (unsigned)(_next_sample_usec-now2));
         }
         if (now2 > _next_sample_usec+400) {
-            timing_printf("longsleep %u wait_usec=%u\n", 
+            timing_printf("longsleep %u wait_usec=%u\n",
                           (unsigned)(now2-_next_sample_usec),
                           (unsigned)wait_usec);
         }
@@ -1056,7 +1067,7 @@ check_sample:
         if (counter++ == 400) {
             counter = 0;
             hal.console->printf("now=%lu _delta_time_sum=%lu diff=%ld\n",
-                                (unsigned long)now, 
+                                (unsigned long)now,
                                 (unsigned long)delta_time_sum,
                                 (long)(now - delta_time_sum));
         }
@@ -1070,7 +1081,7 @@ check_sample:
 /*
   get delta angles
  */
-bool AP_InertialSensor::get_delta_angle(uint8_t i, Vector3f &delta_angle) const 
+bool AP_InertialSensor::get_delta_angle(uint8_t i, Vector3f &delta_angle) const
 {
     if (_delta_angle_valid[i]) {
         delta_angle = _delta_angle[i];
@@ -1284,7 +1295,7 @@ void AP_InertialSensor::acal_init()
 }
 
 // update accel calibrator
-void AP_InertialSensor::acal_update() 
+void AP_InertialSensor::acal_update()
 {
     if(_acal == NULL) {
         return;
@@ -1346,10 +1357,10 @@ void AP_InertialSensor::_acal_save_calibrations()
             /* no break */
     }
 
-    if (fabsf(_trim_roll) > radians(10) || 
+    if (fabsf(_trim_roll) > radians(10) ||
         fabsf(_trim_pitch) > radians(10)) {
         hal.console->print("ERR: Trim over maximum of 10 degrees!!");
-        _new_trim = false;  //we have either got faulty level during acal or highly misaligned accelerometers 
+        _new_trim = false;  //we have either got faulty level during acal or highly misaligned accelerometers
     }
 
     _accel_cal_requires_reboot = true;
@@ -1364,7 +1375,7 @@ void AP_InertialSensor::_acal_event_failure()
 }
 
 /*
-    Returns true if new valid trim values are available and passes them to reference vars    
+    Returns true if new valid trim values are available and passes them to reference vars
 */
 bool AP_InertialSensor::get_new_trim(float& trim_roll, float &trim_pitch)
 {
@@ -1377,7 +1388,7 @@ bool AP_InertialSensor::get_new_trim(float& trim_roll, float &trim_pitch)
     return false;
 }
 
-/*    
+/*
     Returns body fixed accelerometer level data averaged during accel calibration's first step
 */
 bool AP_InertialSensor::get_fixed_mount_accel_cal_sample(uint8_t sample_num, Vector3f& ret) const
@@ -1390,7 +1401,7 @@ bool AP_InertialSensor::get_fixed_mount_accel_cal_sample(uint8_t sample_num, Vec
     return true;
 }
 
-/*    
+/*
     Returns Primary accelerometer level data averaged during accel calibration's first step
 */
 bool AP_InertialSensor::get_primary_accel_cal_sample_avg(uint8_t sample_num, Vector3f& ret) const

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -1,7 +1,5 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
+#pragma once
-#ifndef __AP_INERTIAL_SENSOR_H__
-#define __AP_INERTIAL_SENSOR_H__
 
 // Gyro and Accelerometer calibration criteria
 #define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE  4.0f
@@ -20,12 +18,12 @@
 #define INS_VIBRATION_CHECK_INSTANCES 2
 
 #include <stdint.h>
+
+#include <AP_AccelCal/AP_AccelCal.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_AccelCal/AP_AccelCal.h>
-#include "AP_InertialSensor_UserInteract.h"
-#include <Filter/LowPassFilter.h>
 #include <Filter/LowPassFilter2p.h>
+#include <Filter/LowPassFilter.h>
 
 class AP_InertialSensor_Backend;
 class AuxiliaryBus;
@@ -101,7 +99,7 @@ public:
 
     float get_delta_angle_dt(uint8_t i) const;
     float get_delta_angle_dt() const { return get_delta_angle_dt(_primary_accel); }
-    
+
     //get delta velocity if available
     bool get_delta_velocity(uint8_t i, Vector3f &delta_velocity) const;
     bool get_delta_velocity(Vector3f &delta_velocity) const { return get_delta_velocity(_primary_accel, delta_velocity); }
@@ -176,7 +174,7 @@ public:
 
     // return the main loop delta_t in seconds
     float get_loop_delta_t(void) const { return _loop_delta_t; }
-    
+
     uint16_t error_count(void) const { return 0; }
     bool healthy(void) const { return get_gyro_health() && get_accel_health(); }
 
@@ -283,7 +281,7 @@ private:
     // the selected sample rate
     uint16_t _sample_rate;
     float _loop_delta_t;
-    
+
     // Most recent accelerometer reading
     Vector3f _accel[INS_MAX_INSTANCES];
     Vector3f _delta_velocity[INS_MAX_INSTANCES];
@@ -301,7 +299,7 @@ private:
     Vector3f _gyro_filtered[INS_MAX_INSTANCES];
     bool _new_accel_data[INS_MAX_INSTANCES];
     bool _new_gyro_data[INS_MAX_INSTANCES];
-    
+
     // Most recent gyro reading
     Vector3f _gyro[INS_MAX_INSTANCES];
     Vector3f _delta_angle[INS_MAX_INSTANCES];
@@ -371,7 +369,7 @@ private:
 
     // target time for next wait_for_sample() return
     uint32_t _next_sample_usec;
-    
+
     // time between samples in microseconds
     uint32_t _sample_period_usec;
 
@@ -427,19 +425,3 @@ private:
 
     bool _accel_cal_requires_reboot;
 };
-
-#include "AP_InertialSensor_Backend.h"
-#include "AP_InertialSensor_MPU6000.h"
-#include "AP_InertialSensor_PX4.h"
-#include "AP_InertialSensor_MPU9250.h"
-#include "AP_InertialSensor_L3G4200D.h"
-#include "AP_InertialSensor_Flymaple.h"
-#include "AP_InertialSensor_LSM9DS0.h"
-#include "AP_InertialSensor_HIL.h"
-#include "AP_InertialSensor_SITL.h"
-#include "AP_InertialSensor_qflight.h"
-#include "AP_InertialSensor_QURT.h"
-#include "AP_InertialSensor_UserInteract_Stream.h"
-#include "AP_InertialSensor_UserInteract_MAVLink.h"
-
-#endif // __AP_INERTIAL_SENSOR_H__

libraries/AP_InertialSensor/AP_InertialSensor_Backend.h

@@ -21,10 +21,16 @@
   Note that drivers can implement just gyros or just accels, and can
   also provide multiple gyro/accel instances.
  */
-#ifndef __AP_INERTIALSENSOR_BACKEND_H__
+#pragma once
-#define __AP_INERTIALSENSOR_BACKEND_H__
+
+#include <inttypes.h>
+
+#include <AP_Math/AP_Math.h>
+
+#include "AP_InertialSensor.h"
 
 class AuxiliaryBus;
+class DataFlash_Class;
 
 class AP_InertialSensor_Backend
 {
@@ -36,7 +42,7 @@ public:
     // override with a custom destructor if need be.
     virtual ~AP_InertialSensor_Backend(void) {}
 
-    /* 
+    /*
      * Update the sensor data. Called by the frontend to transfer
      * accumulated sensor readings to the frontend structure via the
      * _publish_gyro() and _publish_accel() functions
@@ -129,8 +135,8 @@ protected:
     uint16_t get_sample_rate_hz(void) const;
 
     // access to frontend dataflash
-    DataFlash_Class *get_dataflash(void) const { 
+    DataFlash_Class *get_dataflash(void) const {
-        return _imu._log_raw_data? _imu._dataflash : NULL; 
+        return _imu._log_raw_data? _imu._dataflash : NULL;
     }
 
     // common gyro update function for all backends
@@ -138,14 +144,12 @@ protected:
 
     // common accel update function for all backends
     void update_accel(uint8_t instance);
-    
+
     // support for updating filter at runtime
     int8_t _last_accel_filter_hz[INS_MAX_INSTANCES];
     int8_t _last_gyro_filter_hz[INS_MAX_INSTANCES];
-    
+
     // note that each backend is also expected to have a static detect()
     // function which instantiates an instance of the backend sensor
     // driver if the sensor is available
 };
-
-#endif // __AP_INERTIALSENSOR_BACKEND_H__

libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h

@@ -1,15 +1,15 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
+#pragma once
-#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__
-#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__
 
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
 
-#include "AP_InertialSensor.h"
 #include <Filter/Filter.h>
 #include <Filter/LowPassFilter2p.h>
 
+#include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
+
 class AP_InertialSensor_Flymaple : public AP_InertialSensor_Backend
 {
 public:
@@ -34,4 +34,3 @@ private:
     uint32_t _last_accel_timestamp;
 };
 #endif
-#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__

libraries/AP_InertialSensor/AP_InertialSensor_HIL.h

@@ -1,9 +1,8 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
+#pragma once
-#ifndef __AP_INERTIALSENSOR_HIL_H__
-#define __AP_INERTIALSENSOR_HIL_H__
 
 #include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
 
 class AP_InertialSensor_HIL : public AP_InertialSensor_Backend
 {
@@ -19,5 +18,3 @@ public:
 private:
     bool _init_sensor(void);
 };
-
-#endif // __AP_INERTIALSENSOR_HIL_H__

libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h

@@ -4,12 +4,11 @@
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
-#include <pthread.h>
-
 #include <Filter/Filter.h>
 #include <Filter/LowPassFilter2p.h>
 
 #include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
 
 class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
 {

libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h

@@ -1,11 +1,11 @@
-
+#pragma once
-#ifndef __AP_INERTIAL_SENSOR_LSM9DS0_H__
-#define __AP_INERTIAL_SENSOR_LSM9DS0_H__
 
 #define LSM9DS0_DEBUG 0
 
 #include <AP_HAL/AP_HAL.h>
+
 #include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
 
 class AP_InertialSensor_LSM9DS0 : public AP_InertialSensor_Backend
 {
@@ -90,5 +90,3 @@ private:
     void        _dump_registers();
 #endif
 };
-
-#endif /* __AP_INERTIAL_SENSOR_LSM9DS0_H__ */

libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h

@@ -12,6 +12,7 @@
 #include <Filter/LowPassFilter.h>
 
 #include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
 #include "AuxiliaryBus.h"
 
 // enable debug to see a register dump on startup

libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h

@@ -1,13 +1,14 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
+#pragma once
-#ifndef __AP_INERTIAL_SENSOR_MPU9250_H__
-#define __AP_INERTIAL_SENSOR_MPU9250_H__
 
 #include <stdint.h>
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 #include <Filter/Filter.h>
 #include <Filter/LowPassFilter2p.h>
+
+#include "AP_InertialSensor_Backend.h"
 #include "AP_InertialSensor.h"
 #include "AuxiliaryBus.h"
 
@@ -164,5 +165,3 @@ private:
 
     uint8_t _ext_sens_data = 0;
 };
-
-#endif // __AP_INERTIAL_SENSOR_MPU9250_H__

libraries/AP_InertialSensor/AP_InertialSensor_PX4.h

@@ -1,12 +1,11 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
+#pragma once
-#ifndef __AP_INERTIAL_SENSOR_PX4_H__
-#define __AP_INERTIAL_SENSOR_PX4_H__
 
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 
 #include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <uORB/uORB.h>
@@ -70,5 +69,4 @@ private:
     float _accel_dt_max[INS_MAX_INSTANCES];
 #endif // AP_INERTIALSENSOR_PX4_DEBUG
 };
-#endif // CONFIG_HAL_BOARD
+#endif
-#endif // __AP_INERTIAL_SENSOR_PX4_H__

libraries/AP_InertialSensor/AP_InertialSensor_QURT.h

@@ -1,12 +1,15 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
 #pragma once
 
-#include "AP_InertialSensor.h"
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_QURT
+
+#include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
+
 extern "C" {
 #undef DEG_TO_RAD
-#include "mpu9x50.h"
+#include <mpu9x50.h>
 }
 #include <AP_HAL/utility/RingBuffer.h>
 
@@ -20,23 +23,23 @@ public:
     /* update accel and gyro state */
     bool update() override;
     void accumulate(void) override;
-    
+
     // detect the sensor
     static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
 
     void data_ready(void);
-    
+
 private:
     bool init_sensor();
     void init_mpu9250();
 
     uint64_t last_timestamp;
     uint32_t start_time_ms;
-    
+
     uint8_t gyro_instance;
     uint8_t accel_instance;
 
     ObjectBuffer<mpu9x50_data> buf{100};
 };
 
-#endif // CONFIG_HAL_BOARD
+#endif

libraries/AP_InertialSensor/AP_InertialSensor_SITL.h

@@ -1,10 +1,10 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+#pragma once
 
-#ifndef __AP_INERTIALSENSOR_SITL_H__
+#include <SITL/SITL.h>
-#define __AP_INERTIALSENSOR_SITL_H__
 
 #include "AP_InertialSensor.h"
-#include <SITL/SITL.h>
+#include "AP_InertialSensor_Backend.h"
 
 #define INS_SITL_INSTANCES 2
 
@@ -24,11 +24,9 @@ private:
     void timer_update();
     float rand_float(void);
     float gyro_drift(void);
-    
+
     SITL::SITL *sitl;
 
     uint8_t gyro_instance[INS_SITL_INSTANCES];
     uint8_t accel_instance[INS_SITL_INSTANCES];
 };
-
-#endif // __AP_INERTIALSENSOR_SITL_H__

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract.h

@@ -1,6 +1,4 @@
-
+#pragma once
-#ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_H__
-#define __AP_INERTIAL_SENSOR_USER_INTERACT_H__
 
 #include <AP_Common/AP_Common.h>
 
@@ -10,6 +8,3 @@ public:
     virtual bool blocking_read() = 0;
     virtual void printf(const char *, ...) FMT_PRINTF(2, 3) = 0;
 };
-
-#endif // __AP_INERTIAL_SENSOR_USER_INTERACT_H__
-

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.h

@@ -1,13 +1,12 @@
-
+#pragma once
-#ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_MAVLINK_H__
-#define __AP_INERTIAL_SENSOR_USER_INTERACT_MAVLINK_H__
-
-#include "AP_InertialSensor_UserInteract.h"
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 
+
+#include "AP_InertialSensor_UserInteract.h"
+
 class GCS_MAVLINK;
 
 /**
@@ -23,6 +22,3 @@ public:
 private:
     GCS_MAVLINK *_gcs;
 };
-
-#endif // __AP_INERTIAL_SENSOR_USER_INTERACT_MAVLINK_H__
-

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.h

@@ -1,16 +1,14 @@
-
+#pragma once
-#ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
-#define __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
+
 #include "AP_InertialSensor_UserInteract.h"
 
 /**
  * AP_InertialSensor_UserInteract, implemented in terms of a BetterStream.
  */
-class AP_InertialSensor_UserInteractStream :
+class AP_InertialSensor_UserInteractStream : public AP_InertialSensor_UserInteract {
-    public AP_InertialSensor_UserInteract {
 public:
     AP_InertialSensor_UserInteractStream(AP_HAL::BetterStream *s) :
         _s(s) {}
@@ -20,6 +18,3 @@ public:
 private:
     AP_HAL::BetterStream *_s;
 };
-
-#endif // __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
-

libraries/AP_InertialSensor/AP_InertialSensor_qflight.h

@@ -1,12 +1,14 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
 #pragma once
 
-#include "AP_InertialSensor.h"
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
 
 #include <AP_HAL_Linux/qflight/qflight_buffer.h>
 
+#include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
+
 class AP_InertialSensor_QFLIGHT : public AP_InertialSensor_Backend
 {
 public:
@@ -27,4 +29,4 @@ private:
     DSPBuffer::IMU *imubuf;
 };
 
-#endif // CONFIG_HAL_BOARD_SUBTYPE
+#endif