From b495ddbdd33866bd9d31357e5a7dcb64bbce92b5 Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@gmail.com>
Date: Mon, 8 Jul 2019 09:21:56 -0600
Subject: [PATCH] Delete unnecessary #includes from the imu driver directory.

---
 src/drivers/imu/adis16448/ADIS16448.h         |  8 +--
 src/drivers/imu/adis16477/ADIS16477.cpp       |  3 --
 src/drivers/imu/adis16477/ADIS16477.hpp       |  7 +--
 src/drivers/imu/adis16477/adis16477_main.cpp  |  2 -
 src/drivers/imu/adis16497/ADIS16497.cpp       |  3 --
 src/drivers/imu/adis16497/ADIS16497.hpp       |  7 +--
 src/drivers/imu/adis16497/adis16497_main.cpp  |  2 -
 src/drivers/imu/bmi055/BMI055.hpp             |  8 +--
 src/drivers/imu/bmi055/BMI055_accel.cpp       |  2 -
 src/drivers/imu/bmi055/BMI055_accel.hpp       | 10 +---
 src/drivers/imu/bmi055/BMI055_gyro.hpp        | 10 +---
 src/drivers/imu/bmi055/bmi055_main.cpp        |  3 --
 src/drivers/imu/bmi160/bmi160.cpp             | 34 ++++++++++++-
 src/drivers/imu/bmi160/bmi160.hpp             | 50 +++++++++++++++----
 src/drivers/imu/bmi160/bmi160_main.cpp        | 35 +++++++++++--
 src/drivers/imu/fxas21002c/FXAS21002C.cpp     |  6 ---
 src/drivers/imu/fxas21002c/FXAS21002C.hpp     |  6 +--
 .../imu/fxas21002c/fxas21002c_main.cpp        |  4 --
 src/drivers/imu/fxos8701cq/fxos8701cq.cpp     | 47 ++++-------------
 src/drivers/imu/icm20948/accel.cpp            | 26 +---------
 src/drivers/imu/icm20948/accel.h              |  4 ++
 src/drivers/imu/icm20948/gyro.cpp             | 12 -----
 src/drivers/imu/icm20948/gyro.h               |  4 ++
 src/drivers/imu/icm20948/icm20948.cpp         | 20 --------
 src/drivers/imu/icm20948/icm20948.h           | 24 ++++-----
 src/drivers/imu/icm20948/icm20948_i2c.cpp     |  3 --
 src/drivers/imu/icm20948/icm20948_spi.cpp     |  3 --
 src/drivers/imu/icm20948/mag.cpp              | 14 ------
 src/drivers/imu/icm20948/mag.h                |  9 ++--
 src/drivers/imu/icm20948/mag_i2c.cpp          |  5 --
 src/drivers/imu/icm20948/main.cpp             | 27 ----------
 src/drivers/imu/l3gd20/l3gd20.cpp             |  8 ++-
 src/drivers/imu/lsm303d/lsm303d.cpp           | 40 +++------------
 src/drivers/imu/mpu6000/MPU6000.hpp           |  8 ++-
 src/drivers/imu/mpu6000/MPU6000_I2C.cpp       |  3 --
 src/drivers/imu/mpu6000/MPU6000_SPI.cpp       |  5 --
 src/drivers/imu/mpu9250/MPU9250_mag.cpp       |  6 ---
 src/drivers/imu/mpu9250/mpu9250.cpp           | 11 ----
 src/drivers/imu/mpu9250/mpu9250.h             | 12 ++---
 src/drivers/imu/mpu9250/mpu9250_i2c.cpp       |  2 -
 src/drivers/imu/mpu9250/mpu9250_main.cpp      |  9 ----
 src/drivers/imu/mpu9250/mpu9250_spi.cpp       |  3 --
 42 files changed, 178 insertions(+), 327 deletions(-)

diff --git a/src/drivers/imu/adis16448/ADIS16448.h b/src/drivers/imu/adis16448/ADIS16448.h
index cea6b35b53..e1c01842ba 100644
--- a/src/drivers/imu/adis16448/ADIS16448.h
+++ b/src/drivers/imu/adis16448/ADIS16448.h
@@ -42,15 +42,15 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <ecl/geo/geo.h>
-#include <perf/perf_counter.h>
 #include <drivers/device/spi.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
-#include <conversion/rotation.h>
+#include <ecl/geo/geo.h>
+#include <lib/conversion/rotation.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+#include <perf/perf_counter.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 using namespace time_literals;
 
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp
index bc8791c7e2..b7f749e0b4 100644
--- a/src/drivers/imu/adis16477/ADIS16477.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477.cpp
@@ -33,9 +33,6 @@
 
 #include "ADIS16477.hpp"
 
-#include <px4_config.h>
-#include <ecl/geo/geo.h>
-
 #define DIR_READ				0x00
 #define DIR_WRITE				0x80
 
diff --git a/src/drivers/imu/adis16477/ADIS16477.hpp b/src/drivers/imu/adis16477/ADIS16477.hpp
index cc271e284f..a5ed6c562b 100644
--- a/src/drivers/imu/adis16477/ADIS16477.hpp
+++ b/src/drivers/imu/adis16477/ADIS16477.hpp
@@ -39,12 +39,13 @@
 #pragma once
 
 #include <drivers/device/spi.h>
-#include <lib/conversion/rotation.h>
-#include <perf/perf_counter.h>
 #include <ecl/geo/geo.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <lib/conversion/rotation.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <perf/perf_counter.h>
+#include <px4_getopt.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 class ADIS16477 : public device::SPI, public px4::ScheduledWorkItem
 {
diff --git a/src/drivers/imu/adis16477/adis16477_main.cpp b/src/drivers/imu/adis16477/adis16477_main.cpp
index fc788018aa..097eee41e2 100644
--- a/src/drivers/imu/adis16477/adis16477_main.cpp
+++ b/src/drivers/imu/adis16477/adis16477_main.cpp
@@ -33,8 +33,6 @@
 
 #include "ADIS16477.hpp"
 
-#include <px4_getopt.h>
-
 extern "C" { __EXPORT int adis16477_main(int argc, char *argv[]); }
 
 /**
diff --git a/src/drivers/imu/adis16497/ADIS16497.cpp b/src/drivers/imu/adis16497/ADIS16497.cpp
index 42e012f172..7225161b60 100644
--- a/src/drivers/imu/adis16497/ADIS16497.cpp
+++ b/src/drivers/imu/adis16497/ADIS16497.cpp
@@ -33,9 +33,6 @@
 
 #include "ADIS16497.hpp"
 
-#include <px4_config.h>
-#include <ecl/geo/geo.h>
-
 #define DIR_READ				0x00
 #define DIR_WRITE				0x80
 
diff --git a/src/drivers/imu/adis16497/ADIS16497.hpp b/src/drivers/imu/adis16497/ADIS16497.hpp
index 1e80b41398..8894d9d778 100644
--- a/src/drivers/imu/adis16497/ADIS16497.hpp
+++ b/src/drivers/imu/adis16497/ADIS16497.hpp
@@ -39,12 +39,13 @@
 #pragma once
 
 #include <drivers/device/spi.h>
-#include <lib/conversion/rotation.h>
-#include <perf/perf_counter.h>
 #include <ecl/geo/geo.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <lib/conversion/rotation.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <perf/perf_counter.h>
+#include <px4_getopt.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 // TODO : This is a copy of the NuttX CRC32 table
 static constexpr uint32_t crc32_tab[] = {
diff --git a/src/drivers/imu/adis16497/adis16497_main.cpp b/src/drivers/imu/adis16497/adis16497_main.cpp
index 3321bc7c51..c20ebcaa2f 100644
--- a/src/drivers/imu/adis16497/adis16497_main.cpp
+++ b/src/drivers/imu/adis16497/adis16497_main.cpp
@@ -33,8 +33,6 @@
 
 #include "ADIS16497.hpp"
 
-#include <px4_getopt.h>
-
 extern "C" { __EXPORT int adis16497_main(int argc, char *argv[]); }
 
 /**
diff --git a/src/drivers/imu/bmi055/BMI055.hpp b/src/drivers/imu/bmi055/BMI055.hpp
index 1586c5d769..eb11619b64 100644
--- a/src/drivers/imu/bmi055/BMI055.hpp
+++ b/src/drivers/imu/bmi055/BMI055.hpp
@@ -33,14 +33,10 @@
 
 #pragma once
 
-#include <drivers/device/integrator.h>
 #include <drivers/device/spi.h>
-#include <drivers/drv_hrt.h>
-#include <lib/conversion/rotation.h>
+#include <ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_config.h>
-#include <systemlib/conversions.h>
-#include <systemlib/err.h>
+#include <px4_getopt.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
 
 #define DIR_READ                0x80
diff --git a/src/drivers/imu/bmi055/BMI055_accel.cpp b/src/drivers/imu/bmi055/BMI055_accel.cpp
index 028053cec5..2ac4a539e5 100644
--- a/src/drivers/imu/bmi055/BMI055_accel.cpp
+++ b/src/drivers/imu/bmi055/BMI055_accel.cpp
@@ -33,8 +33,6 @@
 
 #include "BMI055_accel.hpp"
 
-#include <ecl/geo/geo.h>
-
 /*
   list of registers that will be checked in check_registers(). Note
   that ADDR_WHO_AM_I must be first in the list.
diff --git a/src/drivers/imu/bmi055/BMI055_accel.hpp b/src/drivers/imu/bmi055/BMI055_accel.hpp
index 1585ab430f..867151a278 100644
--- a/src/drivers/imu/bmi055/BMI055_accel.hpp
+++ b/src/drivers/imu/bmi055/BMI055_accel.hpp
@@ -33,15 +33,9 @@
 
 #pragma once
 
-#include "BMI055.hpp"
-
-#include <drivers/device/spi.h>
-#include <drivers/drv_hrt.h>
-#include <lib/conversion/rotation.h>
-#include <lib/perf/perf_counter.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <px4_config.h>
-#include <systemlib/conversions.h>
+
+#include "BMI055.hpp"
 
 #define BMI055_DEVICE_PATH_ACCEL	"/dev/bmi055_accel"
 #define BMI055_DEVICE_PATH_ACCEL_EXT	"/dev/bmi055_accel_ext"
diff --git a/src/drivers/imu/bmi055/BMI055_gyro.hpp b/src/drivers/imu/bmi055/BMI055_gyro.hpp
index 6086285750..e5981b9332 100644
--- a/src/drivers/imu/bmi055/BMI055_gyro.hpp
+++ b/src/drivers/imu/bmi055/BMI055_gyro.hpp
@@ -33,15 +33,9 @@
 
 #pragma once
 
-#include "BMI055.hpp"
-
-#include <drivers/device/spi.h>
-#include <drivers/drv_hrt.h>
-#include <lib/conversion/rotation.h>
-#include <lib/perf/perf_counter.h>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-#include <px4_config.h>
-#include <systemlib/conversions.h>
+
+#include "BMI055.hpp"
 
 #define BMI055_DEVICE_PATH_GYRO		"/dev/bmi055_gyro"
 #define BMI055_DEVICE_PATH_GYRO_EXT	"/dev/bmi055_gyro_ext"
diff --git a/src/drivers/imu/bmi055/bmi055_main.cpp b/src/drivers/imu/bmi055/bmi055_main.cpp
index c828a13bee..1f3eec6e50 100644
--- a/src/drivers/imu/bmi055/bmi055_main.cpp
+++ b/src/drivers/imu/bmi055/bmi055_main.cpp
@@ -34,9 +34,6 @@
 #include "BMI055_accel.hpp"
 #include "BMI055_gyro.hpp"
 
-#include <px4_config.h>
-#include <px4_getopt.h>
-
 /** driver 'main' command */
 extern "C" { __EXPORT int bmi055_main(int argc, char *argv[]); }
 
diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp
index 07bf8243a9..04a11c18f3 100644
--- a/src/drivers/imu/bmi160/bmi160.cpp
+++ b/src/drivers/imu/bmi160/bmi160.cpp
@@ -1,5 +1,37 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
 #include "bmi160.hpp"
-#include <ecl/geo/geo.h>
 
 /*
   list of registers that will be checked in check_registers(). Note
diff --git a/src/drivers/imu/bmi160/bmi160.hpp b/src/drivers/imu/bmi160/bmi160.hpp
index 8e7bc1b806..cad0827a2c 100644
--- a/src/drivers/imu/bmi160/bmi160.hpp
+++ b/src/drivers/imu/bmi160/bmi160.hpp
@@ -1,15 +1,47 @@
-#ifndef BMI160_HPP_
-#define BMI160_HPP_
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
 
-#include <px4_config.h>
-#include <perf/perf_counter.h>
-#include <systemlib/conversions.h>
-#include <drivers/drv_hrt.h>
 #include <drivers/device/spi.h>
+#include <ecl/geo/geo.h>
 #include <lib/conversion/rotation.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <perf/perf_counter.h>
+#include <px4_getopt.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <systemlib/conversions.h>
 
 #define DIR_READ                0x80
 #define DIR_WRITE               0x00
@@ -379,7 +411,3 @@ private:
 	};
 #pragma pack(pop)
 };
-
-
-
-#endif /* BMI160_HPP_ */
diff --git a/src/drivers/imu/bmi160/bmi160_main.cpp b/src/drivers/imu/bmi160/bmi160_main.cpp
index 3bec17c0d8..61b38cc826 100644
--- a/src/drivers/imu/bmi160/bmi160_main.cpp
+++ b/src/drivers/imu/bmi160/bmi160_main.cpp
@@ -1,9 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
 
 #include "bmi160.hpp"
 
-#include <px4_config.h>
-#include <px4_getopt.h>
-
 /** driver 'main' command */
 extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }
 
diff --git a/src/drivers/imu/fxas21002c/FXAS21002C.cpp b/src/drivers/imu/fxas21002c/FXAS21002C.cpp
index 829a679d4f..bce8b6bdaf 100644
--- a/src/drivers/imu/fxas21002c/FXAS21002C.cpp
+++ b/src/drivers/imu/fxas21002c/FXAS21002C.cpp
@@ -33,12 +33,6 @@
 
 #include "FXAS21002C.hpp"
 
-#include <drivers/drv_hrt.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
-
 /* SPI protocol address bits */
 #define DIR_READ(a)                     ((a) | (1 << 7))
 #define DIR_WRITE(a)                    ((a) & 0x7f)
diff --git a/src/drivers/imu/fxas21002c/FXAS21002C.hpp b/src/drivers/imu/fxas21002c/FXAS21002C.hpp
index 587b29ac0b..997e969b08 100644
--- a/src/drivers/imu/fxas21002c/FXAS21002C.hpp
+++ b/src/drivers/imu/fxas21002c/FXAS21002C.hpp
@@ -40,14 +40,12 @@
 #pragma once
 
 #include <drivers/device/spi.h>
-#include <drivers/drv_hrt.h>
-#include <lib/conversion/rotation.h>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_getopt.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
 
+
 class FXAS21002C : public device::SPI, public px4::ScheduledWorkItem
 {
 public:
diff --git a/src/drivers/imu/fxas21002c/fxas21002c_main.cpp b/src/drivers/imu/fxas21002c/fxas21002c_main.cpp
index c27488a48e..1bc6facf36 100644
--- a/src/drivers/imu/fxas21002c/fxas21002c_main.cpp
+++ b/src/drivers/imu/fxas21002c/fxas21002c_main.cpp
@@ -33,10 +33,6 @@
 
 #include "FXAS21002C.hpp"
 
-#include <px4_getopt.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-
 extern "C" { __EXPORT int fxas21002c_main(int argc, char *argv[]); }
 
 /**
diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
index d7b6cb4cd6..0d693db3ee 100644
--- a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
+++ b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
@@ -37,48 +37,21 @@
  * magnetometer connected via SPI.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <ecl/geo/geo.h>
-
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <semaphore.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-
-
-#include <px4_log.h>
-
-#include <perf/perf_counter.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/clock.h>
-
-#include <drivers/drv_hrt.h>
+#include <drivers/device/integrator.h>
+#include <drivers/device/ringbuffer.h>
 #include <drivers/device/spi.h>
 #include <drivers/drv_accel.h>
+#include <ecl/geo/geo.h>
+#include <lib/conversion/rotation.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <perf/perf_counter.h>
+#include <px4_getopt.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <systemlib/err.h>
+
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
 #  include <drivers/drv_mag.h>
 #endif
-#include <drivers/device/ringbuffer.h>
-#include <drivers/device/integrator.h>
-
-#include <board_config.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
-#include <lib/conversion/rotation.h>
-#include <px4_getopt.h>
-#include <systemlib/err.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 /* SPI protocol address bits */
 #define DIR_READ(a)                     ((a) & 0x7f)
diff --git a/src/drivers/imu/icm20948/accel.cpp b/src/drivers/imu/icm20948/accel.cpp
index a0e8fde252..fba32ba746 100644
--- a/src/drivers/imu/icm20948/accel.cpp
+++ b/src/drivers/imu/icm20948/accel.cpp
@@ -41,33 +41,9 @@
  * based on the mpu6000 driver
  */
 
-#include <px4_config.h>
-#include <ecl/geo/geo.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <stdio.h>
-
-#include <perf/perf_counter.h>
-
-#include <board_config.h>
-#include <drivers/drv_hrt.h>
-
 #include <drivers/device/spi.h>
-#include <drivers/device/ringbuffer.h>
-#include <drivers/device/integrator.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
-#include <lib/conversion/rotation.h>
 
-#include "mag.h"
-#include "gyro.h"
+#include "accel.h"
 #include "icm20948.h"
 
 ICM20948_accel::ICM20948_accel(ICM20948 *parent, const char *path) :
diff --git a/src/drivers/imu/icm20948/accel.h b/src/drivers/imu/icm20948/accel.h
index b31cf49aa4..ea1732b6a8 100644
--- a/src/drivers/imu/icm20948/accel.h
+++ b/src/drivers/imu/icm20948/accel.h
@@ -33,6 +33,10 @@
 
 #pragma once
 
+#include <drivers/device/device.h>
+#include <drivers/drv_accel.h>
+#include <uORB/uORB.h>
+
 class ICM20948;
 
 /**
diff --git a/src/drivers/imu/icm20948/gyro.cpp b/src/drivers/imu/icm20948/gyro.cpp
index 2a1ec75d73..3523499fb0 100644
--- a/src/drivers/imu/icm20948/gyro.cpp
+++ b/src/drivers/imu/icm20948/gyro.cpp
@@ -40,18 +40,6 @@
  * based on the mpu9250 driver
  */
 
-#include <px4_config.h>
-#include <lib/perf/perf_counter.h>
-#include <drivers/device/spi.h>
-#include <drivers/device/ringbuffer.h>
-#include <drivers/device/integrator.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
-#include <lib/conversion/rotation.h>
-
-#include "mag.h"
 #include "gyro.h"
 #include "icm20948.h"
 
diff --git a/src/drivers/imu/icm20948/gyro.h b/src/drivers/imu/icm20948/gyro.h
index 02b47c25f2..cff6c8c649 100644
--- a/src/drivers/imu/icm20948/gyro.h
+++ b/src/drivers/imu/icm20948/gyro.h
@@ -33,6 +33,10 @@
 
 #pragma once
 
+#include <drivers/device/device.h>
+#include <drivers/drv_gyro.h>
+#include <uORB/uORB.h>
+
 class ICM20948;
 
 /**
diff --git a/src/drivers/imu/icm20948/icm20948.cpp b/src/drivers/imu/icm20948/icm20948.cpp
index 5dda0970ac..6027175f4e 100644
--- a/src/drivers/imu/icm20948/icm20948.cpp
+++ b/src/drivers/imu/icm20948/icm20948.cpp
@@ -36,29 +36,9 @@
  *
  * Driver for the Invensense ICM20948 connected via I2C or SPI.
  *
- *
  * based on the mpu9250 driver
  */
 
-#include <px4_config.h>
-#include <px4_time.h>
-#include <lib/ecl/geo/geo.h>
-#include <lib/perf/perf_counter.h>
-#include <systemlib/conversions.h>
-#include <systemlib/px4_macros.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/device/spi.h>
-#include <drivers/device/ringbuffer.h>
-#include <drivers/device/integrator.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
-#include <lib/conversion/rotation.h>
-
-#include "mag.h"
-#include "accel.h"
-#include "gyro.h"
 #include "icm20948.h"
 
 /*
diff --git a/src/drivers/imu/icm20948/icm20948.h b/src/drivers/imu/icm20948/icm20948.h
index 7049beb10a..939b507346 100644
--- a/src/drivers/imu/icm20948/icm20948.h
+++ b/src/drivers/imu/icm20948/icm20948.h
@@ -31,30 +31,26 @@
  *
  ****************************************************************************/
 
-#include <stdint.h>
-
-#include <perf/perf_counter.h>
-#include <systemlib/conversions.h>
-
 #include <board_config.h>
 #include <drivers/drv_hrt.h>
-
 #include <drivers/device/ringbuffer.h>
 #include <drivers/device/integrator.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
-#include <systemlib/err.h>
+#include <lib/ecl/geo/geo.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_config.h>
+#include <px4_getopt.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
-
+#include <sys/types.h>
+#include <systemlib/conversions.h>
+#include <systemlib/err.h>
+#include <systemlib/px4_macros.h>
 #include <uORB/uORB.h>
-#include <uORB/topics/debug_key_value.h>
 
-#include "mag.h"
 #include "accel.h"
 #include "gyro.h"
+#include "mag.h"
 
 
 #if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)
diff --git a/src/drivers/imu/icm20948/icm20948_i2c.cpp b/src/drivers/imu/icm20948/icm20948_i2c.cpp
index 6ac07de3c5..732cb096bd 100644
--- a/src/drivers/imu/icm20948/icm20948_i2c.cpp
+++ b/src/drivers/imu/icm20948/icm20948_i2c.cpp
@@ -37,10 +37,7 @@
  * I2C interface for ICM20948
  */
 
-#include <px4_config.h>
 #include <drivers/device/i2c.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_device.h>
 
 #include "icm20948.h"
 
diff --git a/src/drivers/imu/icm20948/icm20948_spi.cpp b/src/drivers/imu/icm20948/icm20948_spi.cpp
index bd0730bfa3..52de202ed1 100644
--- a/src/drivers/imu/icm20948/icm20948_spi.cpp
+++ b/src/drivers/imu/icm20948/icm20948_spi.cpp
@@ -41,10 +41,7 @@
  * @author David sidrane
  */
 
-#include <px4_config.h>
 #include <drivers/device/spi.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_device.h>
 
 #include "icm20948.h"
 
diff --git a/src/drivers/imu/icm20948/mag.cpp b/src/drivers/imu/icm20948/mag.cpp
index 4d42173342..002c046394 100644
--- a/src/drivers/imu/icm20948/mag.cpp
+++ b/src/drivers/imu/icm20948/mag.cpp
@@ -40,20 +40,6 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_time.h>
-#include <lib/perf/perf_counter.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/device/spi.h>
-#include <drivers/device/ringbuffer.h>
-#include <drivers/device/integrator.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
-#include <lib/conversion/rotation.h>
-
 #include "mag.h"
 #include "icm20948.h"
 
diff --git a/src/drivers/imu/icm20948/mag.h b/src/drivers/imu/icm20948/mag.h
index 6927bffe26..b84a407ecb 100644
--- a/src/drivers/imu/icm20948/mag.h
+++ b/src/drivers/imu/icm20948/mag.h
@@ -33,9 +33,12 @@
 
 #pragma once
 
-#include "drivers/device/ringbuffer.h"	// ringbuffer::RingBuffer
-#include "drivers/drv_mag.h"		// mag_calibration_s
-#include <perf/perf_counter.h>
+#include <drivers/device/i2c.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/drv_device.h>
+#include <drivers/drv_mag.h>
+#include <lib/perf/perf_counter.h>
+#include <uORB/uORB.h>
 
 /* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
 
diff --git a/src/drivers/imu/icm20948/mag_i2c.cpp b/src/drivers/imu/icm20948/mag_i2c.cpp
index b9f1b1e63b..87a04a9453 100644
--- a/src/drivers/imu/icm20948/mag_i2c.cpp
+++ b/src/drivers/imu/icm20948/mag_i2c.cpp
@@ -37,11 +37,6 @@
  * I2C interface for AK8963
  */
 
-#include <px4_config.h>
-#include <drivers/device/i2c.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_device.h>
-
 #include "icm20948.h"
 #include "mag.h"
 
diff --git a/src/drivers/imu/icm20948/main.cpp b/src/drivers/imu/icm20948/main.cpp
index 374439f37e..642a6af531 100644
--- a/src/drivers/imu/icm20948/main.cpp
+++ b/src/drivers/imu/icm20948/main.cpp
@@ -39,33 +39,6 @@
  * based on the mpu9250 driver
  */
 
-#include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <stdio.h>
-#include <px4_getopt.h>
-
-#include <perf/perf_counter.h>
-#include <systemlib/err.h>
-#include <systemlib/conversions.h>
-
-#include <board_config.h>
-#include <drivers/drv_hrt.h>
-
-#include <drivers/device/spi.h>
-#include <drivers/device/ringbuffer.h>
-#include <drivers/device/integrator.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
-#include <lib/conversion/rotation.h>
-
 #include "icm20948.h"
 
 #define ICM_DEVICE_PATH_ACCEL_EXT  "/dev/icm20948_accel_ext"
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index 5326341c7e..85aeb561d7 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -39,14 +39,12 @@
  *       also supported by this driver.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
-#include <perf/perf_counter.h>
 #include <drivers/device/spi.h>
 #include <lib/conversion/rotation.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <perf/perf_counter.h>
+#include <px4_getopt.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 #define L3GD20_DEVICE_PATH "/dev/l3gd20"
 
diff --git a/src/drivers/imu/lsm303d/lsm303d.cpp b/src/drivers/imu/lsm303d/lsm303d.cpp
index 3fa7b10f16..35dc130436 100644
--- a/src/drivers/imu/lsm303d/lsm303d.cpp
+++ b/src/drivers/imu/lsm303d/lsm303d.cpp
@@ -36,43 +36,19 @@
  * Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <ecl/geo/geo.h>
-
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <semaphore.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-#include <px4_getopt.h>
-
-#include <perf/perf_counter.h>
-#include <systemlib/err.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/clock.h>
-
-#include <drivers/drv_hrt.h>
+#include <drivers/device/integrator.h>
+#include <drivers/device/ringbuffer.h>
 #include <drivers/device/spi.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_mag.h>
-#include <drivers/device/ringbuffer.h>
-#include <drivers/device/integrator.h>
-
-#include <board_config.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <ecl/geo/geo.h>
 #include <lib/conversion/rotation.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <perf/perf_counter.h>
+#include <px4_getopt.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <systemlib/err.h>
+
 
 /* SPI protocol address bits */
 #define DIR_READ				(1<<7)
diff --git a/src/drivers/imu/mpu6000/MPU6000.hpp b/src/drivers/imu/mpu6000/MPU6000.hpp
index 722f87c381..33817589ec 100644
--- a/src/drivers/imu/mpu6000/MPU6000.hpp
+++ b/src/drivers/imu/mpu6000/MPU6000.hpp
@@ -55,21 +55,19 @@
  * @author David Sidrane
  */
 
-#include <drivers/drv_hrt.h>
-#include <lib/cdev/CDev.hpp>
+#include <lib/conversion/rotation.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/drivers/device/i2c.h>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_config.h>
 #include <px4_getopt.h>
-#include <px4_time.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 #include <systemlib/px4_macros.h>
 
+
 /*
   we set the timer interrupt to run a bit faster than the desired
   sample rate and then throw away duplicates by comparing
diff --git a/src/drivers/imu/mpu6000/MPU6000_I2C.cpp b/src/drivers/imu/mpu6000/MPU6000_I2C.cpp
index a7a29fee06..f57581c299 100644
--- a/src/drivers/imu/mpu6000/MPU6000_I2C.cpp
+++ b/src/drivers/imu/mpu6000/MPU6000_I2C.cpp
@@ -37,10 +37,7 @@
  * I2C interface for MPU6000 /MPU6050
  */
 
-#include <px4_config.h>
 #include <drivers/device/i2c.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_device.h>
 
 #include "MPU6000.hpp"
 
diff --git a/src/drivers/imu/mpu6000/MPU6000_SPI.cpp b/src/drivers/imu/mpu6000/MPU6000_SPI.cpp
index da6fdb2ce3..17da2b16d5 100644
--- a/src/drivers/imu/mpu6000/MPU6000_SPI.cpp
+++ b/src/drivers/imu/mpu6000/MPU6000_SPI.cpp
@@ -41,15 +41,10 @@
  * @author David sidrane
  */
 
-#include <px4_config.h>
 #include <drivers/device/spi.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_device.h>
 
 #include "MPU6000.hpp"
 
-#include <string.h>
-
 #define DIR_READ			0x80
 #define DIR_WRITE			0x00
 
diff --git a/src/drivers/imu/mpu9250/MPU9250_mag.cpp b/src/drivers/imu/mpu9250/MPU9250_mag.cpp
index efd4e6cf0a..5ff31aa09f 100644
--- a/src/drivers/imu/mpu9250/MPU9250_mag.cpp
+++ b/src/drivers/imu/mpu9250/MPU9250_mag.cpp
@@ -40,12 +40,6 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_time.h>
-#include <lib/perf/perf_counter.h>
-#include <drivers/drv_hrt.h>
-
 #include "MPU9250_mag.h"
 #include "mpu9250.h"
 
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index dcae094c73..d694b0453d 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -41,17 +41,6 @@
  * based on the mpu6000 driver
  */
 
-#include <px4_config.h>
-#include <px4_time.h>
-#include <lib/ecl/geo/geo.h>
-#include <lib/perf/perf_counter.h>
-#include <systemlib/conversions.h>
-#include <systemlib/px4_macros.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/device/spi.h>
-#include <lib/conversion/rotation.h>
-
-#include "MPU9250_mag.h"
 #include "mpu9250.h"
 
 /*
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index 66fbc7e4f2..84e45cbf71 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -31,19 +31,17 @@
  *
  ****************************************************************************/
 
-#include <stdint.h>
-
-#include <perf/perf_counter.h>
-#include <systemlib/conversions.h>
-#include <drivers/drv_hrt.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-#include <lib/conversion/rotation.h>
+#include <lib/ecl/geo/geo.h>
+#include <px4_getopt.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
-#include <uORB/uORB.h>
+#include <systemlib/conversions.h>
+#include <systemlib/px4_macros.h>
 
 #include "MPU9250_mag.h"
 
+
 #if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)
 #  define USE_I2C
 #endif
diff --git a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
index af21bd309d..e3f5a8079b 100644
--- a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
@@ -37,9 +37,7 @@
  * I2C interface for MPU9250
  */
 
-#include <px4_config.h>
 #include <drivers/device/i2c.h>
-#include <drivers/drv_device.h>
 
 #include "mpu9250.h"
 
diff --git a/src/drivers/imu/mpu9250/mpu9250_main.cpp b/src/drivers/imu/mpu9250/mpu9250_main.cpp
index b775f2b9bb..e1e50262f8 100644
--- a/src/drivers/imu/mpu9250/mpu9250_main.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_main.cpp
@@ -42,15 +42,6 @@
  * based on the mpu6000 driver
  */
 
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <lib/perf/perf_counter.h>
-#include <lib/systemlib/conversions.h>
-#include <board_config.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/device/spi.h>
-#include <lib/conversion/rotation.h>
-
 #include "mpu9250.h"
 
 #define MPU_DEVICE_PATH			"/dev/mpu9250"
diff --git a/src/drivers/imu/mpu9250/mpu9250_spi.cpp b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
index fa429aa3b0..122c2a7c53 100644
--- a/src/drivers/imu/mpu9250/mpu9250_spi.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
@@ -41,10 +41,7 @@
  * @author David sidrane
  */
 
-#include <px4_config.h>
 #include <drivers/device/spi.h>
-#include <drivers/drv_device.h>
-
 #include "mpu9250.h"
 
 #define DIR_READ			0x80