From b70b8288b9c7d680e95aaf884ebfe9309fda30cc Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 17 Aug 2017 09:49:21 -0400
Subject: [PATCH] px4_includes cleanup incomplete list

---
 src/drivers/aerofc_adc/aerofc_adc.cpp         |  2 +
 src/drivers/bst/bst.cpp                       |  1 +
 src/drivers/device/cdev.cpp                   |  5 +-
 src/drivers/linux_pwm_out/linux_pwm_out.cpp   |  1 +
 src/drivers/rgbled/rgbled.cpp                 |  2 +
 src/drivers/sf0x/sf0x_tests/SF0XTest.cpp      |  3 +-
 .../ekf_att_pos_estimator_main.cpp            |  1 +
 src/modules/ekf2/ekf2_main.cpp                |  1 +
 src/modules/ekf2_replay/ekf2_replay_main.cpp  |  2 +
 src/modules/land_detector/LandDetector.cpp    |  8 +-
 src/modules/mavlink/mavlink_command_sender.h  |  2 +-
 src/modules/mavlink/mavlink_messages.cpp      |  1 +
 .../mc_pos_control/mc_pos_control_main.cpp    |  2 +
 .../microRTPS_client_dummy.cpp                |  2 +
 src/modules/navigator/navigator.h             |  1 +
 .../position_estimator_inav_main.cpp          |  1 +
 src/modules/sensors/rc_update.h               |  1 +
 src/modules/simulator/simulator_mavlink.cpp   |  1 +
 src/platforms/px4_includes.h                  | 84 ++-----------------
 src/systemcmds/motor_ramp/motor_ramp.cpp      |  1 +
 20 files changed, 40 insertions(+), 82 deletions(-)

diff --git a/src/drivers/aerofc_adc/aerofc_adc.cpp b/src/drivers/aerofc_adc/aerofc_adc.cpp
index 0790d178e6..a3cf0dc925 100644
--- a/src/drivers/aerofc_adc/aerofc_adc.cpp
+++ b/src/drivers/aerofc_adc/aerofc_adc.cpp
@@ -34,6 +34,8 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 
+#include <cstring>
+
 #include <arch/board/board.h>
 
 #include <nuttx/arch.h>
diff --git a/src/drivers/bst/bst.cpp b/src/drivers/bst/bst.cpp
index b761bea4e8..3956b058b5 100644
--- a/src/drivers/bst/bst.cpp
+++ b/src/drivers/bst/bst.cpp
@@ -49,6 +49,7 @@
 #include <math.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/battery_status.h>
+#include <uORB/topics/vehicle_attitude.h>
 #include <mathlib/math/Quaternion.hpp>
 
 using namespace matrix;
diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp
index 68335db760..ea989bad5a 100644
--- a/src/drivers/device/cdev.cpp
+++ b/src/drivers/device/cdev.cpp
@@ -43,8 +43,9 @@
 #include <sys/ioctl.h>
 #include <arch/irq.h>
 
-#include <stdlib.h>
-#include <stdio.h>
+#include <cstdlib>
+#include <cstdio>
+#include <cstring>
 
 #ifdef CONFIG_DISABLE_POLL
 # error This driver is not compatible with CONFIG_DISABLE_POLL
diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
index 6c845520fb..bb1244025a 100644
--- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp
+++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
@@ -43,6 +43,7 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/rc_channels.h>
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp
index e9368ce098..7a82260d86 100644
--- a/src/drivers/rgbled/rgbled.cpp
+++ b/src/drivers/rgbled/rgbled.cpp
@@ -66,6 +66,8 @@
 #include <drivers/drv_led.h>
 #include <lib/led/led.h>
 
+#include "uORB/topics/parameter_update.h"
+
 #define RGBLED_ONTIME 120
 #define RGBLED_OFFTIME 120
 
diff --git a/src/drivers/sf0x/sf0x_tests/SF0XTest.cpp b/src/drivers/sf0x/sf0x_tests/SF0XTest.cpp
index 449e160429..f88a9056bd 100644
--- a/src/drivers/sf0x/sf0x_tests/SF0XTest.cpp
+++ b/src/drivers/sf0x/sf0x_tests/SF0XTest.cpp
@@ -4,7 +4,8 @@
 
 #include <systemlib/err.h>
 
-#include <stdio.h>
+#include <cstdio>
+#include <cstring>
 #include <unistd.h>
 
 extern "C" __EXPORT int sf0x_tests_main(int argc, char *argv[]);
diff --git a/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index c3e39b7254..056964633c 100644
--- a/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -67,6 +67,7 @@
 #include <mathlib/mathlib.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <platforms/px4_defines.h>
+#include <uORB/topics/parameter_update.h>
 
 static uint64_t IMUusec = 0;
 
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index b2663c6b1d..9c8f5f7f25 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -83,6 +83,7 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/sensor_selection.h>
 #include <uORB/topics/sensor_baro.h>
+#include <uORB/topics/parameter_update.h>
 
 #include <ecl/EKF/ekf.h>
 
diff --git a/src/modules/ekf2_replay/ekf2_replay_main.cpp b/src/modules/ekf2_replay/ekf2_replay_main.cpp
index 0b10bdddb0..cd251bc0a5 100644
--- a/src/modules/ekf2_replay/ekf2_replay_main.cpp
+++ b/src/modules/ekf2_replay/ekf2_replay_main.cpp
@@ -70,6 +70,8 @@
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_status.h>
 
 #include <sdlog2/sdlog2_messages.h>
 
diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
index f802bedaa8..d71898dee6 100644
--- a/src/modules/land_detector/LandDetector.cpp
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -38,12 +38,14 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
+#include "LandDetector.h"
+
+#include <cfloat>
+
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
-#include <float.h>
-
-#include "LandDetector.h"
+#include "uORB/topics/parameter_update.h"
 
 
 namespace land_detector
diff --git a/src/modules/mavlink/mavlink_command_sender.h b/src/modules/mavlink/mavlink_command_sender.h
index de14ae3db9..2df17de5d8 100644
--- a/src/modules/mavlink/mavlink_command_sender.h
+++ b/src/modules/mavlink/mavlink_command_sender.h
@@ -108,7 +108,7 @@ private:
 		mavlink_command_long_t command = {};
 		hrt_abstime timestamp_us = 0;
 		hrt_abstime last_time_sent_us = 0;
-		int8_t num_sent_per_channel[MAX_MAVLINK_CHANNEL] = { -1, -1, -1, -1};
+		int8_t num_sent_per_channel[MAX_MAVLINK_CHANNEL] = {-1, -1, -1, -1};
 	} command_item_t;
 
 	TimestampedList<command_item_t> _commands;
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index b7d5772a30..eef12c3e87 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -81,6 +81,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_land_detected.h>
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 9350c8debc..0be11652c9 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -60,10 +60,12 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
 
 #include <float.h>
 #include <lib/geo/geo.h>
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp
index 881ff4fc53..54643e36b0 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp
@@ -34,6 +34,8 @@
 #include <px4_posix.h>
 #include <px4_tasks.h>
 
+#include <cstring>
+
 extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]);
 
 
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 159160034a..135a482ba3 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -68,6 +68,7 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/vehicle_local_position.h>
 #include <uORB/uORB.h>
 
 /**
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
index 6ebd2baf64..33bf97fb67 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
@@ -59,6 +59,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/att_pos_mocap.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/distance_sensor.h>
diff --git a/src/modules/sensors/rc_update.h b/src/modules/sensors/rc_update.h
index aeade4c833..a66cc80618 100644
--- a/src/modules/sensors/rc_update.h
+++ b/src/modules/sensors/rc_update.h
@@ -44,6 +44,7 @@
 #include <drivers/drv_hrt.h>
 #include <mathlib/mathlib.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <uORB/topics/rc_channels.h>
 
 namespace sensors
 {
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 98c520258c..90d55aa943 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -45,6 +45,7 @@
 #include <pthread.h>
 #include <conversion/rotation.h>
 #include <mathlib/mathlib.h>
+#include <uORB/topics/vehicle_local_position.h>
 
 extern "C" __EXPORT hrt_abstime hrt_reset(void);
 
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
index 4de88db471..85dda1979d 100644
--- a/src/platforms/px4_includes.h
+++ b/src/platforms/px4_includes.h
@@ -39,116 +39,50 @@
 
 #pragma once
 
-#include <stdbool.h>
-
 #if defined(__PX4_ROS)
 /*
  * Building for running within the ROS environment
  */
 
-#ifdef __cplusplus
-#include "ros/ros.h"
-#include <px4_rc_channels.h>
-#include <px4_vehicle_attitude.h>
-#include <px4_vehicle_attitude_setpoint.h>
-#include <px4_manual_control_setpoint.h>
-#include <px4_actuator_controls.h>
-#include <px4_vehicle_rates_setpoint.h>
-#include <px4_mc_virtual_rates_setpoint.h>
-#include <px4_vehicle_attitude.h>
-#include <px4_control_state.h>
-#include <px4_vehicle_control_mode.h>
-#include <px4_actuator_armed.h>
-#include <px4_parameter_update.h>
-#include <px4_vehicle_status.h>
-#include <px4_vehicle_local_position_setpoint.h>
-#include <px4_vehicle_local_position.h>
-#include <px4_position_setpoint_triplet.h>
-#include <px4_offboard_control_mode.h>
-#include <px4_vehicle_force_setpoint.h>
-#endif
-
 #elif defined(__PX4_NUTTX)
 /*
  * Building for NuttX
  */
 #include <nuttx/config.h>
 #include <uORB/uORB.h>
-#ifdef __cplusplus
-#include <platforms/nuttx/px4_messages/px4_rc_channels.h>
-#include <platforms/nuttx/px4_messages/px4_vehicle_attitude_setpoint.h>
-#include <platforms/nuttx/px4_messages/px4_manual_control_setpoint.h>
-#include <platforms/nuttx/px4_messages/px4_actuator_controls.h>
-#include <platforms/nuttx/px4_messages/px4_vehicle_rates_setpoint.h>
-#include <platforms/nuttx/px4_messages/px4_vehicle_attitude.h>
-#include <platforms/nuttx/px4_messages/px4_control_state.h>
-#include <platforms/nuttx/px4_messages/px4_vehicle_control_mode.h>
-#include <platforms/nuttx/px4_messages/px4_actuator_armed.h>
-#include <platforms/nuttx/px4_messages/px4_parameter_update.h>
-#include <platforms/nuttx/px4_messages/px4_vehicle_status.h>
-#include <platforms/nuttx/px4_messages/px4_vehicle_local_position_setpoint.h>
-#include <platforms/nuttx/px4_messages/px4_vehicle_local_position.h>
-#include <platforms/nuttx/px4_messages/px4_position_setpoint_triplet.h>
-#include <platforms/nuttx/px4_messages/px4_offboard_control_mode.h>
-#include <platforms/nuttx/px4_messages/px4_vehicle_force_setpoint.h>
-#include <platforms/nuttx/px4_messages/px4_camera_trigger.h>
-#endif
+
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 
 #elif defined(__PX4_POSIX) && !defined(__PX4_QURT)
+/*
+ * Building for Posix
+ */
 #include <string.h>
 #include <assert.h>
 #include <uORB/uORB.h>
 
 #define ASSERT(x) assert(x)
 
-#ifdef __cplusplus
-#include <platforms/posix/px4_messages/px4_rc_channels.h>
-#include <platforms/posix/px4_messages/px4_vehicle_attitude_setpoint.h>
-#include <platforms/posix/px4_messages/px4_manual_control_setpoint.h>
-#include <platforms/posix/px4_messages/px4_actuator_controls.h>
-#include <platforms/posix/px4_messages/px4_vehicle_rates_setpoint.h>
-#include <platforms/posix/px4_messages/px4_vehicle_attitude.h>
-#include <platforms/posix/px4_messages/px4_control_state.h>
-#include <platforms/posix/px4_messages/px4_vehicle_control_mode.h>
-#include <platforms/posix/px4_messages/px4_actuator_armed.h>
-#include <platforms/posix/px4_messages/px4_parameter_update.h>
-#include <platforms/posix/px4_messages/px4_vehicle_status.h>
-#include <platforms/posix/px4_messages/px4_vehicle_local_position_setpoint.h>
-#include <platforms/posix/px4_messages/px4_vehicle_local_position.h>
-#include <platforms/posix/px4_messages/px4_position_setpoint_triplet.h>
-#endif
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
+
 #elif defined(__PX4_QURT)
+/*
+ * Building for QuRT
+ */
 #include <string.h>
 #include <assert.h>
 #include <uORB/uORB.h>
 
 #define ASSERT(x) assert(x)
 
-#ifdef __cplusplus
-#include <platforms/qurt/px4_messages/px4_rc_channels.h>
-#include <platforms/qurt/px4_messages/px4_vehicle_attitude_setpoint.h>
-#include <platforms/qurt/px4_messages/px4_manual_control_setpoint.h>
-#include <platforms/qurt/px4_messages/px4_actuator_controls.h>
-#include <platforms/qurt/px4_messages/px4_vehicle_rates_setpoint.h>
-#include <platforms/qurt/px4_messages/px4_vehicle_attitude.h>
-#include <platforms/qurt/px4_messages/px4_control_state.h>
-#include <platforms/qurt/px4_messages/px4_vehicle_control_mode.h>
-#include <platforms/qurt/px4_messages/px4_actuator_armed.h>
-#include <platforms/qurt/px4_messages/px4_parameter_update.h>
-#include <platforms/qurt/px4_messages/px4_vehicle_status.h>
-#include <platforms/qurt/px4_messages/px4_vehicle_local_position_setpoint.h>
-#include <platforms/qurt/px4_messages/px4_vehicle_local_position.h>
-#include <platforms/qurt/px4_messages/px4_position_setpoint_triplet.h>
-#endif
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
+
 #else
 #error "No target platform defined"
 #endif
diff --git a/src/systemcmds/motor_ramp/motor_ramp.cpp b/src/systemcmds/motor_ramp/motor_ramp.cpp
index e2fa2817bb..ba6a06f5b4 100644
--- a/src/systemcmds/motor_ramp/motor_ramp.cpp
+++ b/src/systemcmds/motor_ramp/motor_ramp.cpp
@@ -58,6 +58,7 @@
 
 #include "systemlib/systemlib.h"
 #include "systemlib/err.h"
+#include "uORB/topics/actuator_controls.h"
 
 enum RampState {
 	RAMP_INIT,