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AR_WPNav: 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 e8e4aef998
commit 54cf46b8e9
1 changed files with 3 additions and 3 deletions
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6
libraries/AR_WPNav/AR_WPNav.cpp
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@ -108,7 +108,7 @@ void AR_WPNav::update(float dt)
// exit immediately if no current location, origin or destination
Location current_loc;
float speed;
if (!hal.util->get_soft_armed() || !_orig_and_dest_valid || !AP::ahrs().get_position(current_loc) || !_atc.get_forward_speed(speed)) {
if (!hal.util->get_soft_armed() || !_orig_and_dest_valid || !AP::ahrs().get_location(current_loc) || !_atc.get_forward_speed(speed)) {
_desired_speed_limited = _atc.get_desired_speed_accel_limited(0.0f, dt);
_desired_turn_rate_rads = 0.0f;
return;
@ -263,7 +263,7 @@ bool AR_WPNav::set_desired_location_NED(const Vector3f& destination, float next_
bool AR_WPNav::get_stopping_location(Location& stopping_loc)
{
Location current_loc;
if (!AP::ahrs().get_position(current_loc)) {
if (!AP::ahrs().get_location(current_loc)) {
return false;
}
@ -350,7 +350,7 @@ void AR_WPNav::update_distance_and_bearing_to_destination()
{
// if no current location leave distance unchanged
Location current_loc;
if (!_orig_and_dest_valid || !AP::ahrs().get_position(current_loc)) {
if (!_orig_and_dest_valid || !AP::ahrs().get_location(current_loc)) {
_distance_to_destination = 0.0f;
_wp_bearing_cd = 0.0f;