From 80a56a5fdf7b3ea66ef6f4bf9e32a54962018d57 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 27 Aug 2021 13:05:00 +1000
Subject: [PATCH] ArduSub: eliminate AP::ahrs().get_location

---
 ArduSub/commands.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduSub/commands.cpp b/ArduSub/commands.cpp
index 4085a20a6e..7162b89f31 100644
--- a/ArduSub/commands.cpp
+++ b/ArduSub/commands.cpp
@@ -25,7 +25,7 @@ void Sub::set_home_to_current_location_inflight()
     // get current location from EKF
     Location temp_loc;
     Location ekf_origin;
-    if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
+    if (ahrs.get_position(temp_loc) && ahrs.get_origin(ekf_origin)) {
         temp_loc.alt = ekf_origin.alt;
         if (!set_home(temp_loc, false)) {
             // ignore this failure
@@ -38,7 +38,7 @@ bool Sub::set_home_to_current_location(bool lock)
 {
     // get current location from EKF
     Location temp_loc;
-    if (ahrs.get_location(temp_loc)) {
+    if (ahrs.get_position(temp_loc)) {
 
         // Make home always at the water's surface.
         // This allows disarming and arming again at depth.