From 30c65e57bef1f66095729593f029a15fcc18eeae Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jun 2020 15:54:29 +1000
Subject: [PATCH] SITL: remove use of Vector3 as function

---
 libraries/SITL/SIM_Calibration.cpp | 4 ++--
 libraries/SITL/SIM_FlightAxis.cpp  | 8 +++++---
 libraries/SITL/SIM_Motor.cpp       | 2 +-
 libraries/SITL/SIM_XPlane.cpp      | 2 +-
 4 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/libraries/SITL/SIM_Calibration.cpp b/libraries/SITL/SIM_Calibration.cpp
index 7c10ea21c9..1480cf5a44 100644
--- a/libraries/SITL/SIM_Calibration.cpp
+++ b/libraries/SITL/SIM_Calibration.cpp
@@ -45,7 +45,7 @@ void SITL::Calibration::update(const struct sitl_input &input)
         _angular_velocity_control(input, rot_accel);
     }
 
-    accel_body(0, 0, 0);
+    accel_body.zero();
     update_dynamics(rot_accel);
     update_position();
     time_advance();
@@ -172,6 +172,6 @@ void SITL::Calibration::_calibration_poses(Vector3f& rot_accel)
     r2.from_axis_angle(axis, rot_angle);
     dcm = r2 * dcm;
 
-    accel_body(0, 0, -GRAVITY_MSS);
+    accel_body = {0, 0, -GRAVITY_MSS};
     accel_body = dcm.transposed() * accel_body;
 }
diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp
index 91f2bca42b..1a447b0058 100644
--- a/libraries/SITL/SIM_FlightAxis.cpp
+++ b/libraries/SITL/SIM_FlightAxis.cpp
@@ -428,9 +428,11 @@ void FlightAxis::update(const struct sitl_input &input)
                         state.m_aircraftPositionX_MTR,
                         -state.m_altitudeASL_MTR - home.alt*0.01);
 
-    accel_body(state.m_accelerationBodyAX_MPS2,
-               state.m_accelerationBodyAY_MPS2,
-               state.m_accelerationBodyAZ_MPS2);
+    accel_body = {
+        float(state.m_accelerationBodyAX_MPS2),
+        float(state.m_accelerationBodyAY_MPS2),
+        float(state.m_accelerationBodyAZ_MPS2)
+    };
 
     // accel on the ground is nasty in realflight, and prevents helicopter disarm
     if (!is_zero(state.m_isTouchingGround)) {
diff --git a/libraries/SITL/SIM_Motor.cpp b/libraries/SITL/SIM_Motor.cpp
index bda0e0dbd8..31025d4028 100644
--- a/libraries/SITL/SIM_Motor.cpp
+++ b/libraries/SITL/SIM_Motor.cpp
@@ -39,7 +39,7 @@ void Motor::calculate_forces(const struct sitl_input &input,
     Vector3f rotor_torque(0, 0, yaw_factor * motor_speed * yaw_scale);
 
     // get thrust for untilted motor
-    thrust(0, 0, -motor_speed);
+    thrust = {0, 0, -motor_speed};
 
     // define the arm position relative to center of mass
     Vector3f arm(arm_scale * cosf(radians(angle)), arm_scale * sinf(radians(angle)), 0);
diff --git a/libraries/SITL/SIM_XPlane.cpp b/libraries/SITL/SIM_XPlane.cpp
index 87cc6be037..1b07cbedeb 100644
--- a/libraries/SITL/SIM_XPlane.cpp
+++ b/libraries/SITL/SIM_XPlane.cpp
@@ -311,7 +311,7 @@ bool XPlane::receive_data(void)
         printf("X-Plane home reset dist=%f alt=%.1f/%.1f\n",
                loc.get_distance(location), loc.alt*0.01f, location.alt*0.01f);
         // reset home location
-        position_zero(-pos.x, -pos.y, -pos.z);
+        position_zero = {-pos.x, -pos.y, -pos.z};
         home.lat = loc.lat;
         home.lng = loc.lng;
         home.alt = loc.alt;