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ArduSub: eliminate AP::ahrs().get_location

This commit is contained in:
Peter Barker 2021-08-27 13:05:00 +10:00 committed by Andrew Tridgell
parent a38879f77e
commit 80a56a5fdf
1 changed files with 2 additions and 2 deletions
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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_location(temp_loc) && ahrs.get_origin(ekf_origin)) { if (ahrs.get_position(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_location(temp_loc)) { if (ahrs.get_position(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.