AP_NavEKF2: stop including AP_DAL.h in header

it's not needed and will slow compilation down
ArduPilot · Aug 30, 2024 · df20e35 · df20e35
1 parent 6d844d8
commit df20e35
Show file tree

Hide file tree

Showing 6 changed files with 17 additions and 19 deletions.
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1,6 +1,7 @@
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_NavEKF2_core.h"
+
+#include <AP_DAL/AP_DAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
@@ -1,9 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
-
-#include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 
-extern const AP_HAL::HAL& hal;
+#include <AP_DAL/AP_DAL.h>
+
+#include "AP_NavEKF2.h"
 
 /********************************************************
 *                   RESET FUNCTIONS                     *

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -1,11 +1,9 @@
-#include <AP_HAL/AP_HAL.h>
-
-#include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
-#include <GCS_MAVLink/GCS.h>
 
-extern const AP_HAL::HAL& hal;
+#include <GCS_MAVLink/GCS.h>
+#include <AP_DAL/AP_DAL.h>
 
+#include "AP_NavEKF2.h"
 
 // Control filter mode transitions
 void NavEKF2_core::controlFilterModes()

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
@@ -1,9 +1,6 @@
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_NavEKF2_core.h"
 
-extern const AP_HAL::HAL& hal;
-
+#include <AP_DAL/AP_DAL.h>
 
 /* Monitor GPS data to see if quality is good enough to initialise the EKF
    Monitor magnetometer innovations to see if the heading is good enough to use GPS

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -1,8 +1,10 @@
+#include "AP_NavEKF2_core.h"
+
 #include <AP_HAL/AP_HAL.h>
+#include <AP_DAL/AP_DAL.h>
+#include <GCS_MAVLink/GCS.h>
 
 #include "AP_NavEKF2.h"
-#include "AP_NavEKF2_core.h"
-#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -29,7 +29,8 @@
 #include <AP_Math/vectorN.h>
 #include <AP_NavEKF/AP_NavEKF_core_common.h>
 #include <AP_NavEKF/EKF_Buffer.h>
-#include <AP_DAL/AP_DAL.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
+#include <AP_Beacon/AP_Beacon_config.h>
 
 #include "AP_NavEKF/EKFGSF_yaw.h"
 
@@ -341,7 +342,7 @@ class NavEKF2_core : public NavEKF_core_common
 
 private:
     EKFGSF_yaw *yawEstimator;
-    AP_DAL &dal;
+    class AP_DAL &dal;
 
     // Reference to the global EKF frontend for parameters
     class NavEKF2 *frontend;