InertialNav: add get_location method

libraries/AP_InertialNav/AP_InertialNav.h

@@ -61,6 +61,12 @@ public:
      */
     virtual const Vector3f&    get_position() const = 0;
 
+    /**
+     * get_llh - updates the provided location with the latest calculated location including absolute altitude
+     *  returns true on success (i.e. the EKF knows it's latest position), false on failure
+     */
+    virtual bool get_location(struct Location &loc) const = 0;
+
     /**
      * get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
      * @return

libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp

@@ -62,6 +62,15 @@ const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
     return _relpos_cm;
 }
 
+/**
+ * get_location - updates the provided location with the latest calculated locatoin
+ *  returns true on success (i.e. the EKF knows it's latest position), false on failure
+ */
+bool AP_InertialNav_NavEKF::get_location(struct Location &loc) const
+{
+    return _ahrs_ekf.get_NavEKF().getLLH(loc);
+}
+
 /**
  * get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
  */

libraries/AP_InertialNav/AP_InertialNav_NavEKF.h

@@ -48,6 +48,12 @@ public:
      */
     const Vector3f&    get_position() const;
 
+    /**
+     * get_llh - updates the provided location with the latest calculated location including absolute altitude
+     *  returns true on success (i.e. the EKF knows it's latest position), false on failure
+     */
+    bool get_location(struct Location &loc) const;
+
     /**
      * get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
      */