From b258e89a2ded10b1c06880d813b6c1dd736f075f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 2 Jan 2019 14:25:29 +1100
Subject: [PATCH] Plane: adjust for Location_Class and Location unification

---
 ArduPlane/GCS_Mavlink.cpp | 13 +++++--------
 ArduPlane/geofence.cpp    |  2 +-
 2 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 67b1433b81..bd1eb51e76 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -885,7 +885,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
 {
     switch(packet.command) {
 
-    case MAV_CMD_DO_CHANGE_SPEED:
+    case MAV_CMD_DO_CHANGE_SPEED: {
         // if we're in failsafe modes (e.g., RTL, LOITER) or in pilot
         // controlled modes (e.g., MANUAL, TRAINING)
         // this command should be ignored since it comes in from GCS
@@ -901,6 +901,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
             return MAV_RESULT_ACCEPTED;
         }
         return MAV_RESULT_FAILED;
+    }
 
     case MAV_CMD_NAV_LOITER_UNLIM:
         plane.set_mode(LOITER, MODE_REASON_GCS_COMMAND);
@@ -1232,11 +1233,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         last_hil_state = packet;
 
         // set gps hil sensor
-        Location loc;
-        memset(&loc, 0, sizeof(loc));
-        loc.lat = packet.lat;
-        loc.lng = packet.lon;
-        loc.alt = packet.alt/10;
+        const Location loc{packet.lat, packet.lon, packet.alt/10, Location::ALT_FRAME_ABSOLUTE};
         Vector3f vel(packet.vx, packet.vy, packet.vz);
         vel *= 0.01f;
 
@@ -1442,10 +1439,10 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 case MAV_FRAME_GLOBAL_INT:
                     break; //default to MSL altitude
                 case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
-                    cmd.content.location.relative_alt = true;          
+                    cmd.content.location.relative_alt = true;
                     break;
                 case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
-                    cmd.content.location.relative_alt = true;          
+                    cmd.content.location.relative_alt = true;
                     cmd.content.location.terrain_alt = true;
                     break;
                 default:
diff --git a/ArduPlane/geofence.cpp b/ArduPlane/geofence.cpp
index 58b542d7c6..f2a33f2635 100644
--- a/ArduPlane/geofence.cpp
+++ b/ArduPlane/geofence.cpp
@@ -396,7 +396,7 @@ void Plane::geofence_check(bool altitude_check_only)
             guided_WP_loc = rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());
 
         } else { //return to fence return point, not a rally point
-            memset(&guided_WP_loc, 0, sizeof(guided_WP_loc));
+            guided_WP_loc = {};
             if (g.fence_retalt > 0) {
                 //fly to the return point using fence_retalt
                 guided_WP_loc.alt = home.alt + 100.0f*g.fence_retalt;