Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Terrain: rename AP_AHRS::get_position to get_location

Browse Source
This commit is contained in:
Peter Barker 2022-01-21 10:42:41 +11:00 committed by Andrew Tridgell
parent 3438caebe2
commit e8e4aef998
2 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Terrain/AP_Terrain.cpp
View File

@ -193,7 +193,7 @@ bool AP_Terrain::height_terrain_difference_home(float &terrain_difference, bool
} }
Location loc; Location loc;
if (!ahrs.get_position(loc)) { if (!ahrs.get_location(loc)) {
// we don't know where we are // we don't know where we are
return false; return false;
} }
@ -279,7 +279,7 @@ float AP_Terrain::lookahead(float bearing, float distance, float climb_ratio)
} }
Location loc; Location loc;
if (!AP::ahrs().get_position(loc)) { if (!AP::ahrs().get_location(loc)) {
// we don't know where we are // we don't know where we are
return 0; return 0;
} }
@ -329,7 +329,7 @@ void AP_Terrain::update(void)
// update the cached current location height // update the cached current location height
Location loc; Location loc;
bool pos_valid = ahrs.get_position(loc); bool pos_valid = ahrs.get_location(loc);
bool terrain_valid = pos_valid && height_amsl(loc, height, false); bool terrain_valid = pos_valid && height_amsl(loc, height, false);
if (pos_valid && terrain_valid) { if (pos_valid && terrain_valid) {
last_current_loc_height = height; last_current_loc_height = height;
@ -365,7 +365,7 @@ void AP_Terrain::log_terrain_data()
return; return;
} }
Location loc; Location loc;
if (!AP::ahrs().get_position(loc)) { if (!AP::ahrs().get_location(loc)) {
// we don't know where we are // we don't know where we are
return; return;
} }

4
libraries/AP_Terrain/TerrainGCS.cpp
View File

@ -113,7 +113,7 @@ void AP_Terrain::send_request(mavlink_channel_t chan)
schedule_disk_io(); schedule_disk_io();
Location loc; Location loc;
if (!AP::ahrs().get_position(loc)) { if (!AP::ahrs().get_location(loc)) {
// we don't know where we are. Send a report and request any cached blocks. // we don't know where we are. Send a report and request any cached blocks.
// this allows for download of mission items when we have no GPS lock // this allows for download of mission items when we have no GPS lock
loc = {}; loc = {};
@ -227,7 +227,7 @@ void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc
uint16_t spacing = 0; uint16_t spacing = 0;
Location current_loc; Location current_loc;
const AP_AHRS &ahrs = AP::ahrs(); const AP_AHRS &ahrs = AP::ahrs();
if (ahrs.get_position(current_loc) && if (ahrs.get_location(current_loc) &&
height_amsl(ahrs.get_home(), home_terrain_height, false) && height_amsl(ahrs.get_home(), home_terrain_height, false) &&
height_amsl(loc, terrain_height, false)) { height_amsl(loc, terrain_height, false)) {
// non-zero spacing indicates we have data // non-zero spacing indicates we have data