From 027336dbb88abdcf7f4e767e551698444ab36adb Mon Sep 17 00:00:00 2001
From: Josh Henderson <hendjoshsr71@gmail.com>
Date: Sat, 11 Sep 2021 04:40:29 -0400
Subject: [PATCH] AP_InertialNav: rename to get_position_xy() &
 get_velocity_xy()

---
 libraries/AP_InertialNav/AP_InertialNav.cpp | 20 ++++++++++++++++++++
 libraries/AP_InertialNav/AP_InertialNav.h   | 14 ++++++++++++++
 2 files changed, 34 insertions(+)

diff --git a/libraries/AP_InertialNav/AP_InertialNav.cpp b/libraries/AP_InertialNav/AP_InertialNav.cpp
index b037d629fa..0848266679 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav.cpp
@@ -61,6 +61,16 @@ const Vector3f &AP_InertialNav::get_position(void) const
     return _relpos_cm;
 }
 
+/**
+ * get_position_xy - returns the current x-y position relative to the home location in cm.
+ *
+ * @return
+ */
+const Vector2f &AP_InertialNav::get_position_xy() const
+{
+    return _relpos_cm.xy();
+}
+
 /**
  * get_velocity - returns the current velocity in cm/s
  *
@@ -74,6 +84,16 @@ const Vector3f &AP_InertialNav::get_velocity() const
     return _velocity_cm;
 }
 
+/**
+ * get_velocity_xy - returns the current x-y velocity relative to the home location in cm.
+ *
+ * @return
+ */
+const Vector2f &AP_InertialNav::get_velocity_xy() const
+{
+    return _velocity_cm.xy();
+}
+
 /**
  * get_speed_xy - returns the current horizontal speed in cm/s
  *
diff --git a/libraries/AP_InertialNav/AP_InertialNav.h b/libraries/AP_InertialNav/AP_InertialNav.h
index 23d8ea33b2..e4004a274c 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.h
+++ b/libraries/AP_InertialNav/AP_InertialNav.h
@@ -35,6 +35,13 @@ public:
      */
     const Vector3f&    get_position() const;
 
+    /**
+     * get_position_xy - returns the current x-y position relative to the home location in cm.
+     *
+     * @return
+     */
+    const Vector2f&    get_position_xy() const;
+
     /**
      * get_velocity - returns the current velocity in cm/s
      *
@@ -45,6 +52,13 @@ public:
      */
     const Vector3f&    get_velocity() const;
 
+    /**
+     * get_velocity_xy - returns the current x-y velocity relative to the home location in cm.
+     *
+     * @return
+     */
+    const Vector2f& get_velocity_xy() const;
+
     /**
      * get_speed_xy - returns the current horizontal speed in cm/s
      *