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AP_Terrain: rename AP_AHRS::get_position to get_location

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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
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8
libraries/AP_Terrain/AP_Terrain.cpp
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@ -193,7 +193,7 @@ bool AP_Terrain::height_terrain_difference_home(float &terrain_difference, bool
}
Location loc;
if (!ahrs.get_position(loc)) {
if (!ahrs.get_location(loc)) {
// we don't know where we are
return false;
}
@ -279,7 +279,7 @@ float AP_Terrain::lookahead(float bearing, float distance, float climb_ratio)
}
Location loc;
if (!AP::ahrs().get_position(loc)) {
if (!AP::ahrs().get_location(loc)) {
// we don't know where we are
return 0;
}
@ -329,7 +329,7 @@ void AP_Terrain::update(void)
// update the cached current location height
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);
if (pos_valid && terrain_valid) {
last_current_loc_height = height;
@ -365,7 +365,7 @@ void AP_Terrain::log_terrain_data()
return;
}
Location loc;
if (!AP::ahrs().get_position(loc)) {
if (!AP::ahrs().get_location(loc)) {
// we don't know where we are
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();
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.
// this allows for download of mission items when we have no GPS lock
loc = {};
@ -227,7 +227,7 @@ void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc
uint16_t spacing = 0;
Location current_loc;
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(loc, terrain_height, false)) {
// non-zero spacing indicates we have data