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ArduCopter: rename AP_AHRS::get_position to get_location

This commit is contained in:
Peter Barker 2022-01-21 10:42:41 +11:00 committed by Andrew Tridgell
parent 8461c11742
commit d1acc5df31
4 changed files with 5 additions and 5 deletions
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2
ArduCopter/GCS_Mavlink.cpp
View File

@ -1491,7 +1491,7 @@ int16_t GCS_MAVLINK_Copter::high_latency_target_altitude() const
{
AP_AHRS &ahrs = AP::ahrs();
struct Location global_position_current;
UNUSED_RESULT(ahrs.get_position(global_position_current));
UNUSED_RESULT(ahrs.get_location(global_position_current));
//return units are m
if (copter.ap.initialised) {

2
ArduCopter/avoidance_adsb.cpp
View File

@ -179,7 +179,7 @@ bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle
// decide on whether we should climb or descend
bool should_climb = false;
Location my_loc;
if (AP::ahrs().get_position(my_loc)) {
if (AP::ahrs().get_location(my_loc)) {
should_climb = my_loc.alt > obstacle->_location.alt;
}

4
ArduCopter/commands.cpp
View File

@ -24,7 +24,7 @@ void Copter::set_home_to_current_location_inflight() {
// get current location from EKF
Location temp_loc;
Location ekf_origin;
if (ahrs.get_position(temp_loc) && ahrs.get_origin(ekf_origin)) {
if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
temp_loc.alt = ekf_origin.alt;
if (!set_home(temp_loc, false)) {
return;
@ -40,7 +40,7 @@ void Copter::set_home_to_current_location_inflight() {
bool Copter::set_home_to_current_location(bool lock) {
// get current location from EKF
Location temp_loc;
if (ahrs.get_position(temp_loc)) {
if (ahrs.get_location(temp_loc)) {
if (!set_home(temp_loc, lock)) {
return false;
}

2
ArduCopter/inertia.cpp
View File

@ -8,7 +8,7 @@ void Copter::read_inertia()
// pull position from ahrs
Location loc;
ahrs.get_position(loc);
ahrs.get_location(loc);
current_loc.lat = loc.lat;
current_loc.lng = loc.lng;