From 302e5c687183613a1f393acb348fddd71e291242 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Dec 2017 13:09:59 +1100
Subject: [PATCH] AP_Common: have get_vector_xy_from_origin_NE take a Vector2f
 rather than 3f

Also, rename it from get_vector_xy_from_origin_NED
---
 libraries/AP_Common/Location.cpp | 12 +++++++-----
 libraries/AP_Common/Location.h   |  5 +++--
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Common/Location.cpp b/libraries/AP_Common/Location.cpp
index 7de5e3c97a..ebb15994c4 100644
--- a/libraries/AP_Common/Location.cpp
+++ b/libraries/AP_Common/Location.cpp
@@ -190,24 +190,26 @@ bool Location_Class::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) co
     }
 }
 
-bool Location_Class::get_vector_xy_from_origin_NEU(Vector3f &vec_neu) const
+bool Location_Class::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const
 {
-    // convert to neu
     Location ekf_origin;
     if (!_ahrs->get_origin(ekf_origin)) {
         return false;
     }
-    vec_neu.x = (lat-ekf_origin.lat) * LATLON_TO_CM;
-    vec_neu.y = (lng-ekf_origin.lng) * LATLON_TO_CM * longitude_scale(ekf_origin);
+    vec_ne.x = (lat-ekf_origin.lat) * LATLON_TO_CM;
+    vec_ne.y = (lng-ekf_origin.lng) * LATLON_TO_CM * longitude_scale(ekf_origin);
     return true;
 }
 
 bool Location_Class::get_vector_from_origin_NEU(Vector3f &vec_neu) const
 {
     // convert lat, lon
-    if (!get_vector_xy_from_origin_NEU(vec_neu)) {
+    Vector2f vec_ne;
+    if (!get_vector_xy_from_origin_NE(vec_ne)) {
         return false;
     }
+    vec_neu.x = vec_ne.x;
+    vec_neu.y = vec_ne.y;
 
     // convert altitude
     int32_t alt_above_origin_cm = 0;
diff --git a/libraries/AP_Common/Location.h b/libraries/AP_Common/Location.h
index bfd61436ce..d7fee612f4 100644
--- a/libraries/AP_Common/Location.h
+++ b/libraries/AP_Common/Location.h
@@ -55,10 +55,11 @@ public:
     // the original frame or desired frame is above-terrain
     bool change_alt_frame(ALT_FRAME desired_frame);
 
-    // get position as a vector from home (x,y only or x,y,z)
+    // get position as a vector from origin (x,y only or x,y,z)
     // return false on failure to get the vector which can only
     // happen if the EKF origin has not been set yet
-    bool get_vector_xy_from_origin_NEU(Vector3f &vec_neu) const;
+    // x, y and z are in centimetres
+    bool get_vector_xy_from_origin_NE(Vector2f &vec_ne) const;
     bool get_vector_from_origin_NEU(Vector3f &vec_neu) const;
 
     // return distance in meters between two locations