From 9c2865f6a8171b99031ea4075e3b98d1d5fa861d Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Mon, 2 Feb 2015 18:12:16 -0800
Subject: [PATCH] Copter: update pv_location_to_vector to use get_origin
 instead of get_home

---
 ArduCopter/position_vector.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/position_vector.pde b/ArduCopter/position_vector.pde
index 03faefc056..078e6fe16f 100644
--- a/ArduCopter/position_vector.pde
+++ b/ArduCopter/position_vector.pde
@@ -10,8 +10,8 @@
 // pv_location_to_vector - convert lat/lon coordinates to a position vector
 Vector3f pv_location_to_vector(const Location& loc)
 {
-    const struct Location &temp_home = ahrs.get_home();
-    Vector3f tmp((loc.lat-temp_home.lat) * LATLON_TO_CM, (loc.lng-temp_home.lng) * LATLON_TO_CM * scaleLongDown, loc.alt);
+    const struct Location &origin = inertial_nav.get_origin();
+    Vector3f tmp((loc.lat-origin.lat) * LATLON_TO_CM, (loc.lng-origin.lng) * LATLON_TO_CM * scaleLongDown, loc.alt);
     return tmp;
 }