Moved navigation modules to navigation directory

Makefile

@@ -575,12 +575,6 @@ HIGHEND_SRC = \
             drivers/display_ug2864hsweg01.c \
             drivers/sonar_hcsr04.c \
             drivers/sonar_srf10.c \
-            flight/navigation_rewrite.c \
-            flight/navigation_rewrite_multicopter.c \
-            flight/navigation_rewrite_fixedwing.c \
-            flight/navigation_rewrite_fw_launch.c \
-            flight/navigation_rewrite_pos_estimator.c \
-            flight/navigation_rewrite_geo.c \
             io/dashboard.c \
             io/displayport_max7456.c \
             io/displayport_msp.c \
@@ -592,6 +586,12 @@ HIGHEND_SRC = \
             io/gps_i2cnav.c \
             io/ledstrip.c \
             io/osd.c \
+            navigation/navigation.c \
+            navigation/navigation_fixedwing.c \
+            navigation/navigation_fw_launch.c \
+            navigation/navigation_geo.c \
+            navigation/navigation_multicopter.c \
+            navigation/navigation_pos_estimator.c \
             sensors/barometer.c \
             sensors/pitotmeter.c \
             sensors/rangefinder.c \

src/main/blackbox/blackbox.c

@@ -23,6 +23,10 @@
 
 #ifdef BLACKBOX
 
+#include "blackbox.h"
+#include "blackbox_io.h"
+
+#include "build/debug.h"
 #include "build/version.h"
 
 #include "common/maths.h"
@@ -31,32 +35,29 @@
 #include "common/encoding.h"
 #include "common/utils.h"
 
+#include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
-#include "drivers/sensor.h"
-#include "drivers/system.h"
-#include "drivers/serial.h"
-#include "drivers/compass.h"
-#include "drivers/pwm_rx.h"
 #include "drivers/accgyro.h"
+#include "drivers/compass.h"
 #include "drivers/light_led.h"
-
-#include "sensors/sensors.h"
-#include "sensors/boardalignment.h"
-#include "sensors/rangefinder.h"
-#include "sensors/compass.h"
-#include "sensors/acceleration.h"
-#include "sensors/barometer.h"
-#include "sensors/pitotmeter.h"
-#include "sensors/gyro.h"
-#include "sensors/battery.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/sensor.h"
+#include "drivers/serial.h"
+#include "drivers/system.h"
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/servos.h"
+
 #include "io/beeper.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
@@ -64,24 +65,23 @@
 #include "io/serial.h"
 #include "io/statusindicator.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 #include "rx/msp.h"
 
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/battery.h"
+#include "sensors/boardalignment.h"
+#include "sensors/compass.h"
+#include "sensors/gyro.h"
+#include "sensors/pitotmeter.h"
+#include "sensors/rangefinder.h"
+#include "sensors/sensors.h"
+
 #include "telemetry/telemetry.h"
 
-#include "flight/mixer.h"
-#include "flight/servos.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-#include "flight/pid.h"
-
-#include "config/feature.h"
-
-#include "blackbox.h"
-#include "blackbox_io.h"
-
-#include "build/debug.h"
 
 #ifdef ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 #define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH

src/main/blackbox/blackbox_io.c

@@ -19,16 +19,21 @@
 #include <stdarg.h>
 #include <string.h>
 
+#include "platform.h"
+
+#ifdef BLACKBOX
+
 #include "blackbox.h"
 #include "blackbox_io.h"
 
-#include "build/version.h"
 #include "build/build_config.h"
+#include "build/version.h"
 
-#include "common/maths.h"
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/encoding.h"
+#include "common/maths.h"
+#include "common/printf.h"
 #include "common/streambuf.h"
 
 #include "drivers/gpio.h"
@@ -42,17 +47,18 @@
 #include "drivers/light_led.h"
 #include "drivers/gyro_sync.h"
 
-#include "sensors/sensors.h"
-#include "sensors/boardalignment.h"
-#include "sensors/acceleration.h"
-#include "sensors/barometer.h"
-#include "sensors/pitotmeter.h"
-#include "sensors/gyro.h"
-#include "sensors/battery.h"
-
-#include "io/beeper.h"
+#include "fc/config.h"
 #include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
 
+#include "flight/mixer.h"
+#include "flight/servos.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+
+#include "io/asyncfatfs/asyncfatfs.h"
+#include "io/beeper.h"
+#include "io/flashfs.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -61,25 +67,20 @@
 
 #include "msp/msp_serial.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/msp.h"
 #include "rx/rx.h"
 
+#include "sensors/acceleration.h"
+#include "sensors/battery.h"
+#include "sensors/boardalignment.h"
+#include "sensors/barometer.h"
+#include "sensors/gyro.h"
+#include "sensors/pitotmeter.h"
+#include "sensors/sensors.h"
+
 #include "telemetry/telemetry.h"
-#include "common/printf.h"
-
-#include "flight/mixer.h"
-#include "flight/servos.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-
-#include "fc/config.h"
-#include "fc/runtime_config.h"
-
-#include "io/flashfs.h"
-#include "io/asyncfatfs/asyncfatfs.h"
-
-#ifdef BLACKBOX
 
 #define BLACKBOX_SERIAL_PORT_MODE MODE_TX
 

src/main/cms/cms_menu_imu.c

@@ -35,12 +35,13 @@
 #include "common/axis.h"
 
 #include "flight/pid.h"
-#include "flight/navigation_rewrite.h"
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 
+#include "navigation/navigation.h"
+
 #include "sensors/gyro.h"
 
 

src/main/fc/cli.c

@@ -75,7 +75,6 @@ extern uint8_t __config_end;
 #include "flight/failsafe.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation_rewrite.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
@@ -88,6 +87,8 @@ extern uint8_t __config_end;
 #include "io/osd.h"
 #include "io/serial.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 #include "rx/spektrum.h"
 

src/main/fc/config.c

@@ -22,6 +22,7 @@
 #include "platform.h"
 
 #include "build/build_config.h"
+#include "build/debug.h"
 
 #include "blackbox/blackbox_io.h"
 
@@ -62,7 +63,6 @@
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/failsafe.h"
-#include "flight/navigation_rewrite.h"
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
@@ -71,7 +71,7 @@
 #include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 
-#include "build/debug.h"
+#include "navigation/navigation.h"
 
 #ifndef DEFAULT_RX_FEATURE
 #define DEFAULT_RX_FEATURE FEATURE_RX_PARALLEL_PWM

src/main/fc/fc_core.c

@@ -63,6 +63,8 @@
 
 #include "msp/msp_serial.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 #include "rx/msp.h"
 
@@ -74,8 +76,8 @@
 #include "flight/servos.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
+
 #include "flight/failsafe.h"
-#include "flight/navigation_rewrite.h"
 
 #include "config/feature.h"
 

src/main/fc/fc_init.c

@@ -87,6 +87,8 @@
 
 #include "msp/msp_serial.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 #include "rx/spektrum.h"
 
@@ -110,7 +112,6 @@
 #include "flight/mixer.h"
 #include "flight/servos.h"
 #include "flight/failsafe.h"
-#include "flight/navigation_rewrite.h"
 
 #include "config/config_eeprom.h"
 #include "config/feature.h"

src/main/fc/fc_msp.c

@@ -53,7 +53,6 @@
 #include "flight/imu.h"
 #include "flight/hil.h"
 #include "flight/mixer.h"
-#include "flight/navigation_rewrite.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
@@ -73,6 +72,8 @@
 #include "msp/msp_protocol.h"
 #include "msp/msp_serial.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 #include "rx/msp.h"
 

src/main/fc/rc_controls.c

@@ -43,12 +43,13 @@
 #include "fc/runtime_config.h"
 
 #include "flight/pid.h"
-#include "flight/navigation_rewrite.h"
 #include "flight/failsafe.h"
 
 #include "io/gps.h"
 #include "io/beeper.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 
 #include "sensors/barometer.h"

src/main/flight/failsafe.c

@@ -38,7 +38,8 @@
 #include "fc/runtime_config.h"
 
 #include "flight/failsafe.h"
-#include "flight/navigation_rewrite.h"
+
+#include "navigation/navigation.h"
 
 #include "rx/rx.h"
 

src/main/flight/hil.c

@@ -21,11 +21,12 @@
 #include <stdint.h>
 #include <math.h>
 
-#include "build/build_config.h"
-
 #include "platform.h"
-#include "build/debug.h"
 
+#ifdef HIL
+
+#include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -40,13 +41,13 @@
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/hil.h"
-#include "flight/navigation_rewrite.h"
-#include "flight/navigation_rewrite_private.h"
 
 #include "fc/config.h"
 #include "fc/runtime_config.h"
 
-#ifdef HIL
+#include "navigation/navigation.h"
+#include "navigation/navigation_private.h"
+
 
 bool hilActive = false;
 hilIncomingStateData_t hilToFC;

src/main/flight/mixer.c

@@ -28,6 +28,7 @@
 #include "common/maths.h"
 #include "common/utils.h"
 
+#include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
@@ -35,6 +36,8 @@
 #include "drivers/pwm_output.h"
 #include "drivers/pwm_mapping.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 
 #include "sensors/sensors.h"
@@ -50,9 +53,6 @@
 #include "flight/failsafe.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-
-#include "config/feature.h"
 
 //#define MIXER_DEBUG
 

src/main/flight/pid.c

@@ -39,10 +39,11 @@
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation_rewrite.h"
 
 #include "io/gps.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 
 #include "sensors/sensors.h"

src/main/flight/servos.c

@@ -31,9 +31,10 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
+#include "config/feature.h"
+#include "config/config_reset.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
-#include "config/config_reset.h"
 
 #include "drivers/pwm_output.h"
 #include "drivers/pwm_mapping.h"
@@ -41,6 +42,8 @@
 
 #include "io/gimbal.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 
 #include "sensors/sensors.h"
@@ -56,9 +59,6 @@
 #include "flight/failsafe.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-
-#include "config/feature.h"
 
 
 extern const mixer_t mixers[];

src/main/io/dashboard.c

@@ -45,7 +45,6 @@
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/failsafe.h"
-#include "flight/navigation_rewrite.h"
 
 #include "io/dashboard.h"
 #include "io/displayport_oled.h"
@@ -54,6 +53,8 @@
 #include "io/gps.h"
 #endif
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 
 #include "sensors/battery.h"

src/main/io/gps.c

@@ -47,7 +47,7 @@
 #include "io/gps.h"
 #include "io/gps_private.h"
 
-#include "flight/navigation_rewrite.h"
+#include "navigation/navigation.h"
 
 #include "config/feature.h"
 

src/main/io/gps_i2cnav.c

@@ -39,13 +39,15 @@
 #include "fc/runtime_config.h"
 
 #include "flight/hil.h"
-#include "flight/navigation_rewrite.h"
 #include "flight/pid.h"
 
 #include "io/gps.h"
 #include "io/gps_private.h"
 #include "io/serial.h"
 
+#include "navigation/navigation.h"
+
+
 #define GPS_I2C_POLL_RATE_HZ    20  // Poll I2C GPS at this rate
 
 bool gpsDetectI2CNAV(void)

src/main/io/ledstrip.c

@@ -27,11 +27,14 @@
 
 #include "build/build_config.h"
 
+#include "common/axis.h"
 #include "common/color.h"
 #include "common/maths.h"
+#include "common/printf.h"
 #include "common/typeconversion.h"
 #include "common/utils.h"
 
+#include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
@@ -39,14 +42,25 @@
 #include "drivers/serial.h"
 #include "drivers/system.h"
 
-#include "common/axis.h"
-#include "common/printf.h"
-#include "common/utils.h"
-
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/servos.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+
+#include "io/ledstrip.h"
+#include "io/beeper.h"
+#include "io/gimbal.h"
+#include "io/serial.h"
+#include "io/gps.h"
+
+#include "navigation/navigation.h"
+
+#include "rx/rx.h"
 #include "sensors/acceleration.h"
 #include "sensors/diagnostics.h"
 #include "sensors/barometer.h"
@@ -56,24 +70,8 @@
 #include "sensors/sensors.h"
 #include "sensors/pitotmeter.h"
 
-#include "io/ledstrip.h"
-#include "io/beeper.h"
-#include "io/gimbal.h"
-#include "io/serial.h"
-#include "io/gps.h"
-
-#include "rx/rx.h"
-
 #include "telemetry/telemetry.h"
 
-#include "flight/failsafe.h"
-#include "flight/mixer.h"
-#include "flight/servos.h"
-#include "flight/pid.h"
-#include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-
-#include "config/feature.h"
 
 extern uint16_t rssi; // FIXME dependency on mw.c
 

src/main/io/osd.c

@@ -68,10 +68,11 @@
 
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation_rewrite.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
+#include "navigation/navigation.h"
+
 #include "rx/rx.h"
 
 #include "sensors/battery.h"

src/main/navigation/navigation.c

@@ -34,21 +34,23 @@
 
 #include "drivers/system.h"
 
-#include "sensors/sensors.h"
-#include "sensors/acceleration.h"
-#include "sensors/boardalignment.h"
+#include "fc/config.h"
+#include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
+
+#include "flight/imu.h"
+#include "flight/pid.h"
 
 #include "io/beeper.h"
 #include "io/gps.h"
 
-#include "flight/pid.h"
-#include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-#include "flight/navigation_rewrite_private.h"
+#include "navigation/navigation.h"
+#include "navigation/navigation_private.h"
+
+#include "sensors/sensors.h"
+#include "sensors/acceleration.h"
+#include "sensors/boardalignment.h"
 
-#include "fc/config.h"
-#include "fc/rc_controls.h"
-#include "fc/runtime_config.h"
 
 /*-----------------------------------------------------------
  * Compatibility for home position

src/main/navigation/navigation_fixedwing.c

@@ -39,14 +39,15 @@
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation_rewrite.h"
-#include "flight/navigation_rewrite_private.h"
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
+#include "navigation/navigation.h"
+#include "navigation/navigation_private.h"
+
 // If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
 #define NAV_FW_THROTTLE_SPEED_BOOST_GAIN        1.5f
 #define NAV_FW_MIN_VEL_SPEED_BOOST              700.0f      // 7 m/s

src/main/navigation/navigation_fw_launch.c

@@ -30,6 +30,8 @@
 #include "common/axis.h"
 #include "common/maths.h"
 
+#include "config/feature.h"
+
 #include "drivers/system.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
@@ -47,14 +49,13 @@
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation_rewrite.h"
-#include "flight/navigation_rewrite_private.h"
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
-#include "config/feature.h"
+#include "navigation/navigation.h"
+#include "navigation/navigation_private.h"
 
 
 typedef struct FixedWingLaunchState_s {

src/main/navigation/navigation_geo.c

@@ -36,12 +36,14 @@
 
 #include "flight/pid.h"
 #include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-#include "flight/navigation_rewrite_private.h"
 
 #include "fc/config.h"
 #include "fc/runtime_config.h"
 
+#include "navigation/navigation.h"
+#include "navigation/navigation_private.h"
+
+
 #if defined(NAV_AUTO_MAG_DECLINATION)
 /* Declination calculation code from PX4 project */
 /* set this always to the sampling in degrees for the table below */

src/main/navigation/navigation_multicopter.c

@@ -43,11 +43,13 @@
 
 #include "flight/pid.h"
 #include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-#include "flight/navigation_rewrite_private.h"
 #include "flight/failsafe.h"
 #include "flight/mixer.h"
 
+#include "navigation/navigation.h"
+#include "navigation/navigation_private.h"
+
+
 /*-----------------------------------------------------------
  * Altitude controller for multicopter aircraft
  *-----------------------------------------------------------*/

src/main/navigation/navigation_pos_estimator.c

@@ -40,12 +40,13 @@
 #include "fc/runtime_config.h"
 
 #include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-#include "flight/navigation_rewrite_private.h"
 #include "flight/pid.h"
 
 #include "io/gps.h"
 
+#include "navigation/navigation.h"
+#include "navigation/navigation_private.h"
+
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
 #include "sensors/boardalignment.h"

src/main/telemetry/frsky.c

@@ -31,29 +31,30 @@
 #include "common/maths.h"
 #include "common/axis.h"
 
+#include "config/feature.h"
+
 #include "drivers/system.h"
 #include "drivers/serial.h"
 
-#include "sensors/sensors.h"
-#include "sensors/acceleration.h"
-#include "sensors/gyro.h"
-#include "sensors/barometer.h"
-#include "sensors/battery.h"
-
-#include "io/serial.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
-#include "io/gps.h"
-
 #include "fc/config.h"
 
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
 
-#include "config/feature.h"
+#include "io/gps.h"
+#include "io/serial.h"
+
+#include "navigation/navigation.h"
+
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/battery.h"
+#include "sensors/gyro.h"
+#include "sensors/sensors.h"
 
 #include "telemetry/telemetry.h"
 #include "telemetry/frsky.h"

src/main/telemetry/hott.c

@@ -73,15 +73,16 @@
 
 #include "fc/runtime_config.h"
 
+#include "flight/pid.h"
+
 #include "io/serial.h"
 #include "io/gps.h"
 
+#include "navigation/navigation.h"
+
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
 
-#include "flight/pid.h"
-#include "flight/navigation_rewrite.h"
-
 #include "telemetry/telemetry.h"
 #include "telemetry/hott.h"
 

src/main/telemetry/ltm.c

@@ -47,36 +47,37 @@
 #include "drivers/system.h"
 #include "drivers/serial.h"
 
-#include "sensors/sensors.h"
-#include "sensors/acceleration.h"
-#include "sensors/gyro.h"
-#include "sensors/barometer.h"
-#include "sensors/boardalignment.h"
-#include "sensors/diagnostics.h"
-#include "sensors/battery.h"
-
 #include "io/serial.h"
 
+#include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
-#include "io/gimbal.h"
-#include "io/gps.h"
-#include "io/ledstrip.h"
-
-#include "fc/config.h"
-
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/failsafe.h"
-#include "flight/navigation_rewrite.h"
+
+#include "io/gimbal.h"
+#include "io/gps.h"
+#include "io/ledstrip.h"
+
+#include "navigation/navigation.h"
 
 #include "rx/rx.h"
 
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/battery.h"
+#include "sensors/boardalignment.h"
+#include "sensors/diagnostics.h"
+#include "sensors/gyro.h"
+#include "sensors/sensors.h"
+
 #include "telemetry/telemetry.h"
 #include "telemetry/ltm.h"
 
+
 #define TELEMETRY_LTM_INITIAL_PORT_MODE MODE_TX
 #define LTM_CYCLETIME   100
 

src/main/telemetry/mavlink.c

@@ -48,7 +48,6 @@
 #include "flight/failsafe.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
-#include "flight/navigation_rewrite.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
@@ -57,6 +56,10 @@
 #include "io/ledstrip.h"
 #include "io/serial.h"
 
+#include "navigation/navigation.h"
+
+#include "rx/rx.h"
+
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
 #include "sensors/battery.h"
@@ -65,8 +68,6 @@
 #include "sensors/pitotmeter.h"
 #include "sensors/sensors.h"
 
-#include "rx/rx.h"
-
 #include "telemetry/mavlink.h"
 #include "telemetry/telemetry.h"
 

src/main/telemetry/smartport.c

@@ -15,32 +15,34 @@
 #include "common/color.h"
 #include "common/maths.h"
 
+#include "config/feature.h"
+
 #include "drivers/system.h"
 #include "drivers/serial.h"
 
-#include "rx/rx.h"
-#include "rx/msp.h"
-
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
+#include "flight/imu.h"
+
 #include "io/gps.h"
-#include "io/serial.h"
 #include "io/ledstrip.h"
+#include "io/serial.h"
+
+#include "navigation/navigation.h"
+
+#include "rx/rx.h"
+#include "rx/msp.h"
 
 #include "sensors/acceleration.h"
 #include "sensors/battery.h"
 #include "sensors/barometer.h"
 #include "sensors/pitotmeter.h"
 
-#include "flight/imu.h"
-#include "flight/navigation_rewrite.h"
-
 #include "telemetry/telemetry.h"
 #include "telemetry/smartport.h"
 
-#include "config/feature.h"
 
 enum
 {