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AP_Avoidance: rename AP_AHRS::get_position to get_location

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Peter Barker 2022-01-21 10:42:40 +11:00 committed by Andrew Tridgell
parent e7e95f5990
commit 313ed7fc71
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Avoidance/AP_Avoidance.cpp
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@ -457,7 +457,7 @@ void AP_Avoidance::check_for_threats()
const AP_AHRS &_ahrs = AP::ahrs(); const AP_AHRS &_ahrs = AP::ahrs();
Location my_loc; Location my_loc;
if (!_ahrs.get_position(my_loc)) { if (!_ahrs.get_location(my_loc)) {
// if we don't know our own location we can't determine any threat level // if we don't know our own location we can't determine any threat level
return; return;
} }
@ -542,7 +542,7 @@ void AP_Avoidance::handle_avoidance_local(AP_Avoidance::Obstacle *threat)
action = (MAV_COLLISION_ACTION)_fail_action.get(); action = (MAV_COLLISION_ACTION)_fail_action.get();
Location my_loc; Location my_loc;
if (action != MAV_COLLISION_ACTION_NONE && _fail_altitude_minimum > 0 && if (action != MAV_COLLISION_ACTION_NONE && _fail_altitude_minimum > 0 &&
AP::ahrs().get_position(my_loc) && ((my_loc.alt*0.01f) < _fail_altitude_minimum)) { AP::ahrs().get_location(my_loc) && ((my_loc.alt*0.01f) < _fail_altitude_minimum)) {
// disable avoidance when close to ground, report only // disable avoidance when close to ground, report only
action = MAV_COLLISION_ACTION_REPORT; action = MAV_COLLISION_ACTION_REPORT;
} }
@ -617,7 +617,7 @@ bool AP_Avoidance::get_vector_perpendicular(const AP_Avoidance::Obstacle *obstac
} }
Location my_abs_pos; Location my_abs_pos;
if (!AP::ahrs().get_position(my_abs_pos)) { if (!AP::ahrs().get_location(my_abs_pos)) {
// we should not get to here! If we don't know our position // we should not get to here! If we don't know our position
// we can't know if there are any threats, for starters! // we can't know if there are any threats, for starters!
return false; return false;