AP_NavEKF: add setOrigin

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -997,7 +997,7 @@ bool NavEKF2::getOriginLLH(struct Location &loc) const
 // All NED positions calculated by the filter will be relative to this location
 // The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
 // Returns false if the filter has rejected the attempt to set the origin
-bool NavEKF2::setOriginLLH(struct Location &loc)
+bool NavEKF2::setOriginLLH(const Location &loc)
 {
     if (!core) {
         return false;

libraries/AP_NavEKF2/AP_NavEKF2.h

@@ -165,7 +165,7 @@ public:
     // All NED positions calcualted by the filter will be relative to this location
     // The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
     // Returns false if the filter has rejected the attempt to set the origin
-    bool setOriginLLH(struct Location &loc);
+    bool setOriginLLH(const Location &loc);
 
     // return estimated height above ground level
     // return false if ground height is not being estimated.

libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp

@@ -403,7 +403,7 @@ bool NavEKF2_core::assume_zero_sideslip(void) const
 }
 
 // set the LLH location of the filters NED origin
-bool NavEKF2_core::setOriginLLH(struct Location &loc)
+bool NavEKF2_core::setOriginLLH(const Location &loc)
 {
     if (PV_AidingMode == AID_ABSOLUTE) {
         return false;

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -159,7 +159,7 @@ public:
     // All NED positions calcualted by the filter will be relative to this location
     // The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
     // Returns false if the filter has rejected the attempt to set the origin
-    bool setOriginLLH(struct Location &loc);
+    bool setOriginLLH(const Location &loc);
 
     // return estimated height above ground level
     // return false if ground height is not being estimated.

libraries/AP_NavEKF3/AP_NavEKF3.cpp

@@ -1001,7 +1001,7 @@ bool NavEKF3::getOriginLLH(struct Location &loc) const
 // All NED positions calculated by the filter will be relative to this location
 // The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
 // Returns false if the filter has rejected the attempt to set the origin
-bool NavEKF3::setOriginLLH(struct Location &loc)
+bool NavEKF3::setOriginLLH(const Location &loc)
 {
     if (!core) {
         return false;

libraries/AP_NavEKF3/AP_NavEKF3.h

@@ -156,7 +156,7 @@ public:
     // All NED positions calcualted by the filter will be relative to this location
     // The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
     // Returns false if the filter has rejected the attempt to set the origin
-    bool setOriginLLH(struct Location &loc);
+    bool setOriginLLH(const Location &loc);
 
     // return estimated height above ground level
     // return false if ground height is not being estimated.

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

@@ -431,7 +431,7 @@ bool NavEKF3_core::assume_zero_sideslip(void) const
 }
 
 // set the LLH location of the filters NED origin
-bool NavEKF3_core::setOriginLLH(struct Location &loc)
+bool NavEKF3_core::setOriginLLH(const Location &loc)
 {
     if (PV_AidingMode == AID_ABSOLUTE) {
         return false;

libraries/AP_NavEKF3/AP_NavEKF3_core.h

@@ -165,7 +165,7 @@ public:
     // All NED positions calcualted by the filter will be relative to this location
     // The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
     // Returns false if the filter has rejected the attempt to set the origin
-    bool setOriginLLH(struct Location &loc);
+    bool setOriginLLH(const Location &loc);
 
     // return estimated height above ground level
     // return false if ground height is not being estimated.