From 626521c36625fd8f4ee0438f987482c267d1fe71 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Mon, 12 Jan 2015 14:48:41 -0800
Subject: [PATCH] AC_WPNav: update usage of update_xy_controller

---
 libraries/AC_WPNav/AC_Circle.cpp | 2 +-
 libraries/AC_WPNav/AC_WPNav.cpp  | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 48accacea9..e28ec823b6 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -151,7 +151,7 @@ void AC_Circle::update()
         }
 
         // update position controller
-        _pos_control.update_xy_controller(false, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
     }
 }
 
diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 6a2d02d457..79a813050b 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -304,7 +304,7 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
             dt = 0.0f;
         }
         calc_loiter_desired_velocity(dt,ekfGndSpdLimit);
-        _pos_control.update_xy_controller(true, ekfNavVelGainScaler);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_SLOW_POS_AND_VEL, ekfNavVelGainScaler);
     }
 }
 
@@ -612,7 +612,7 @@ void AC_WPNav::update_wpnav()
         }
         _pos_control.freeze_ff_z();
 
-        _pos_control.update_xy_controller(false, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
         check_wp_leash_length();
 
         _wp_last_update = hal.scheduler->millis();
@@ -875,7 +875,7 @@ void AC_WPNav::update_spline()
         _pos_control.freeze_ff_z();
 
         // run horizontal position controller
-        _pos_control.update_xy_controller(false, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
 
         _wp_last_update = hal.scheduler->millis();
     }