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ArduSub: rename AP_AHRS::get_position to get_location

This commit is contained in:
Peter Barker 2022-01-21 10:42:41 +11:00 committed by Andrew Tridgell
parent 266d384ca7
commit 4640ef9a66
3 changed files with 4 additions and 4 deletions
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2
ArduSub/GCS_Mavlink.cpp
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@ -803,7 +803,7 @@ int16_t GCS_MAVLINK_Sub::high_latency_target_altitude() const
{ {
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
struct Location global_position_current; struct Location global_position_current;
UNUSED_RESULT(ahrs.get_position(global_position_current)); UNUSED_RESULT(ahrs.get_location(global_position_current));
//return units are m //return units are m
if (sub.control_mode == AUTO || sub.control_mode == GUIDED) { if (sub.control_mode == AUTO || sub.control_mode == GUIDED) {

4
ArduSub/commands.cpp
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@ -25,7 +25,7 @@ void Sub::set_home_to_current_location_inflight()
// get current location from EKF // get current location from EKF
Location temp_loc; Location temp_loc;
Location ekf_origin; Location ekf_origin;
if (ahrs.get_position(temp_loc) && ahrs.get_origin(ekf_origin)) { if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
temp_loc.alt = ekf_origin.alt; temp_loc.alt = ekf_origin.alt;
if (!set_home(temp_loc, false)) { if (!set_home(temp_loc, false)) {
// ignore this failure // ignore this failure
@ -38,7 +38,7 @@ bool Sub::set_home_to_current_location(bool lock)
{ {
// get current location from EKF // get current location from EKF
Location temp_loc; Location temp_loc;
if (ahrs.get_position(temp_loc)) { if (ahrs.get_location(temp_loc)) {
// Make home always at the water's surface. // Make home always at the water's surface.
// This allows disarming and arming again at depth. // This allows disarming and arming again at depth.

2
ArduSub/inertia.cpp
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@ -8,7 +8,7 @@ void Sub::read_inertia()
// pull position from ahrs // pull position from ahrs
Location loc; Location loc;
ahrs.get_position(loc); ahrs.get_location(loc);
current_loc.lat = loc.lat; current_loc.lat = loc.lat;
current_loc.lng = loc.lng; current_loc.lng = loc.lng;