Avoid including AP_InertialSensor.h in headers

ArduCopter/Copter.h

@@ -37,7 +37,6 @@
 #include <AP_Logger/AP_Logger.h>            // ArduPilot Mega Flash Memory Library
 #include <AP_Math/AP_Math.h>                // ArduPilot Mega Vector/Matrix math Library
 #include <AP_AccelCal/AP_AccelCal.h>        // interface and maths for accelerometer calibration
-#include <AP_InertialSensor/AP_InertialSensor.h>                // ArduPilot Mega Inertial Sensor (accel & gyro) Library
 #include <AP_AHRS/AP_AHRS.h>                                    // AHRS (Attitude Heading Reference System) interface library for ArduPilot
 #include <AP_Mission/AP_Mission.h>                              // Mission command library
 #include <AP_Mission/AP_Mission_ChangeDetector.h>               // Mission command change detection library

ArduPlane/Plane.h

@@ -35,7 +35,6 @@
 #include <AP_Param/AP_Param.h>
 #include <StorageManager/StorageManager.h>
 #include <AP_Math/AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
-#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor Library
 #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
 #include <AP_AHRS/AP_AHRS.h>         // ArduPilot Mega DCM Library
 #include <SRV_Channel/SRV_Channel.h>

ArduSub/Sub.h

@@ -41,7 +41,6 @@
 #include <AP_Logger/AP_Logger.h>          // ArduPilot Mega Flash Memory Library
 #include <AP_Baro/AP_Baro.h>
 #include <AP_Compass/AP_Compass.h>         // ArduPilot Mega Magnetometer Library
-#include <AP_InertialSensor/AP_InertialSensor.h>  // ArduPilot Mega Inertial Sensor (accel & gyro) Library
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Mission/AP_Mission.h>         // Mission command library
 #include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library

Blimp/Blimp.h

@@ -36,8 +36,6 @@
 // Application dependencies
 #include <AP_Logger/AP_Logger.h>          // ArduPilot Mega Flash Memory Library
 #include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
-// #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
-// #include <AP_InertialSensor/AP_InertialSensor.h>  // ArduPilot Mega Inertial Sensor (accel & gyro) Library
 #include <AP_AHRS/AP_AHRS.h>
 #include <Filter/Filter.h>             // Filter library
 #include <AP_Vehicle/AP_Vehicle.h>         // needed for AHRS build

libraries/AC_PrecLand/AC_PrecLand.cpp

@@ -14,6 +14,7 @@
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 
 extern const AP_HAL::HAL& hal;
 

libraries/APM_Control/AP_YawController.cpp

@@ -22,6 +22,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Scheduler/AP_Scheduler.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_AHRS/AP_AHRS.cpp

@@ -278,6 +278,14 @@ void AP_AHRS::init()
 #endif  // AP_CUSTOMROTATIONS_ENABLED
 }
 
+const Vector3f &AP_AHRS::get_accel(void) const {
+#if AP_INERTIALSENSOR_ENABLED
+    return AP::ins().get_accel(_get_primary_accel_index());
+#else
+    return Vector3f();
+#endif
+}
+
 // updates matrices responsible for rotating vectors from vehicle body
 // frame to autopilot body frame from _trim variables
 void AP_AHRS::update_trim_rotation_matrices()

libraries/AP_AHRS/AP_AHRS.h

@@ -619,9 +619,7 @@ class AP_AHRS {
     Vector3f get_vibration(void) const;
 
     // return primary accels
-    const Vector3f &get_accel(void) const {
-        return AP::ins().get_accel(_get_primary_accel_index());
-    }
+    const Vector3f &get_accel(void) const;
 
     // return primary accel bias. This should be subtracted from
     // get_accel() vector to get best current body frame accel

libraries/AP_AHRS/AP_AHRS_Backend.cpp

@@ -19,6 +19,7 @@
 
 #include <AP_Common/Location.h>
 #include <AP_HAL/AP_HAL.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
@@ -31,6 +32,24 @@ void AP_AHRS_Backend::init()
 {
 }
 
+// get the index of the current primary accelerometer sensor
+uint8_t AP_AHRS_Backend::get_primary_accel_index(void) const {
+#if AP_INERTIALSENSOR_ENABLED
+    return AP::ins().get_first_usable_accel();
+#else
+    return 0;
+#endif
+}
+
+// get the index of the current primary gyro sensor
+uint8_t AP_AHRS_Backend::get_primary_gyro_index(void) const {
+#if AP_INERTIALSENSOR_ENABLED
+    return AP::ins().get_first_usable_gyro();
+#else
+    return 0;
+#endif
+}
+
 // return a smoothed and corrected gyro vector using the latest ins data (which may not have been consumed by the EKF yet)
 Vector3f AP_AHRS::get_gyro_latest(void) const
 {

libraries/AP_AHRS/AP_AHRS_Backend.h

@@ -23,7 +23,6 @@
 #include <AP_Math/AP_Math.h>
 #include <inttypes.h>
 #include <AP_Airspeed/AP_Airspeed.h>
-#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Common/Location.h>
 #include <AP_NavEKF/AP_NavEKF_Source.h>
 
@@ -76,22 +75,10 @@ class AP_AHRS_Backend
     virtual int8_t get_primary_core_index() const { return -1; }
 
     // get the index of the current primary accelerometer sensor
-    virtual uint8_t get_primary_accel_index(void) const {
-#if AP_INERTIALSENSOR_ENABLED
-        return AP::ins().get_first_usable_accel();
-#else
-        return 0;
-#endif
-    }
+    virtual uint8_t get_primary_accel_index(void) const;
 
     // get the index of the current primary gyro sensor
-    virtual uint8_t get_primary_gyro_index(void) const {
-#if AP_INERTIALSENSOR_ENABLED
-        return AP::ins().get_first_usable_gyro();
-#else
-        return 0;
-#endif
-    }
+    virtual uint8_t get_primary_gyro_index(void) const;
 
     // Methods
     virtual void update() = 0;

libraries/AP_AHRS/AP_AHRS_DCM.cpp

@@ -31,6 +31,7 @@
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
 #include <AP_Compass/AP_Compass.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 

libraries/AP_AHRS/AP_AHRS_External.cpp

@@ -4,6 +4,7 @@
 
 #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 
 // true if the AHRS has completed initialisation
 bool AP_AHRS_External::initialised(void) const

libraries/AP_GyroFFT/AP_GyroFFT.cpp

@@ -25,6 +25,7 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Arming/AP_Arming.h>
 #include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
 #include <AP_Motors/AP_Motors.h>
 #endif
@@ -428,6 +429,11 @@ void AP_GyroFFT::update()
     }
 }
 
+uint16_t AP_GyroFFT::get_available_samples(uint8_t axis)
+{
+    return _sample_mode == 0 ?_ins->get_raw_gyro_window(axis).available() : _downsampled_gyro_data[axis].available();
+}
+
 // analyse gyro data using FFT, returns number of samples still held
 // called from FFT thread
 uint16_t AP_GyroFFT::run_cycle()

libraries/AP_GyroFFT/AP_GyroFFT.h

@@ -24,7 +24,6 @@
 #include <AP_HAL/utility/RingBuffer.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <Filter/LowPassFilter.h>
 #include <Filter/FilterWithBuffer.h>
 
@@ -221,9 +220,7 @@ class AP_GyroFFT
     // whether analysis can be run again or not
     bool start_analysis();
     // return samples available in the gyro window
-    uint16_t get_available_samples(uint8_t axis) {
-        return _sample_mode == 0 ?_ins->get_raw_gyro_window(axis).available() : _downsampled_gyro_data[axis].available();
-    }
+    uint16_t get_available_samples(uint8_t axis);
     void update_parameters(bool force);
     // semaphore for access to shared FFT data
     HAL_Semaphore _sem;
@@ -358,7 +355,7 @@ class AP_GyroFFT
     AP_Int8 _num_frames;
     // mask of IMUs to record gyro frames after the filter bank
     AP_Int32 _options;
-    AP_InertialSensor* _ins;
+    class AP_InertialSensor* _ins;
 #if DEBUG_FFT
     uint32_t _last_output_ms;
     EngineState _debug_state;

libraries/AP_InertialSensor/FastRateBuffer.h

@@ -14,7 +14,7 @@
 */
 #pragma once
 
-#include "AP_InertialSensor.h"
+#include "AP_InertialSensor_rate_config.h"
 
 #if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
 

libraries/AP_Module/examples/ModuleTest/ModuleTest.cpp

@@ -9,6 +9,7 @@
 #include <AP_Baro/AP_Baro.h>
 #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 #include <GCS_MAVLink/GCS_Dummy.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 
 const struct AP_Param::GroupInfo        GCS_MAVLINK_Parameters::var_info[] = {
     AP_GROUPEND

libraries/AP_Mount/AP_Mount_SoloGimbal.cpp

@@ -5,6 +5,7 @@
 #include "AP_Mount_SoloGimbal.h"
 
 #include "SoloGimbal.h"
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/GCS.h>

libraries/AP_Mount/SoloGimbal.cpp

@@ -8,6 +8,7 @@
 
 #include <stdio.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL& hal;

libraries/AP_NMEA_Output/AP_NMEA_Output.cpp

@@ -31,6 +31,7 @@
 #include <stdio.h>
 #include <time.h>
 #include <AP_AHRS/AP_AHRS_config.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 
 #if AP_AHRS_ENABLED
 #include <AP_AHRS/AP_AHRS.h>

libraries/AP_NavEKF3/AP_NavEKF3_core.h

@@ -31,7 +31,6 @@
 #include <AP_NavEKF/AP_NavEKF_core_common.h>
 #include <AP_NavEKF/AP_NavEKF_Source.h>
 #include <AP_NavEKF/EKF_Buffer.h>
-#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 
 #include "AP_NavEKF/EKFGSF_yaw.h"

libraries/AP_Soaring/Variometer.cpp

@@ -5,6 +5,7 @@ Manages the estimation of aircraft total energy, drag and vertical air velocity.
 #include "Variometer.h"
 
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Logger/AP_Logger.h>
 
 Variometer::Variometer(const AP_FixedWing &parms, const PolarParams &polarParams) :

libraries/AP_TECS/AP_TECS.cpp

@@ -4,6 +4,7 @@
 #include <AP_Baro/AP_Baro.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Landing/AP_Landing.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_TECS/AP_TECS.h

@@ -22,6 +22,7 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_Vehicle/AP_FixedWing.h>
 #include <Filter/AverageFilter.h>
+#include <Filter/LowPassFilter.h>
 
 class AP_Landing;
 class AP_TECS {

libraries/AP_TempCalibration/AP_TempCalibration.cpp

@@ -23,6 +23,8 @@
 #include "AP_TempCalibration.h"
 #include <stdio.h>
 #include <AP_Baro/AP_Baro.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_TempCalibration/AP_TempCalibration.h

@@ -22,9 +22,8 @@
 
 #if AP_TEMPCALIBRATION_ENABLED
 
-#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/vector3.h>
 #include <AP_Param/AP_Param.h>
-#include <AP_InertialSensor/AP_InertialSensor.h>
 
 class AP_TempCalibration
 {

libraries/GCS_MAVLink/GCS.cpp

@@ -19,6 +19,7 @@
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_GPS/AP_GPS.h>
 #include <RC_Channel/RC_Channel.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 
 #include "MissionItemProtocol_Waypoints.h"
 #include "MissionItemProtocol_Rally.h"

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -29,6 +29,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Arming/AP_Arming.h>
 #include <AP_InternalError/AP_InternalError.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_Vehicle/AP_Vehicle.h>

libraries/RC_Channel/RC_Channel.cpp

@@ -40,6 +40,7 @@ extern const AP_HAL::HAL& hal;
 #include <AP_Generator/AP_Generator.h>
 #include <AP_Gripper/AP_Gripper.h>
 #include <AP_GyroFFT/AP_GyroFFT.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_ADSB/AP_ADSB.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>