ArduCopter: rename AP_AHRS::get_position to get_location
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@ -1491,7 +1491,7 @@ int16_t GCS_MAVLINK_Copter::high_latency_target_altitude() const
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{
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{
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AP_AHRS &ahrs = AP::ahrs();
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AP_AHRS &ahrs = AP::ahrs();
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struct Location global_position_current;
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struct Location global_position_current;
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UNUSED_RESULT(ahrs.get_position(global_position_current));
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UNUSED_RESULT(ahrs.get_location(global_position_current));
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//return units are m
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//return units are m
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if (copter.ap.initialised) {
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if (copter.ap.initialised) {
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@ -179,7 +179,7 @@ bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle
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// decide on whether we should climb or descend
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// decide on whether we should climb or descend
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bool should_climb = false;
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bool should_climb = false;
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Location my_loc;
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Location my_loc;
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if (AP::ahrs().get_position(my_loc)) {
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if (AP::ahrs().get_location(my_loc)) {
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should_climb = my_loc.alt > obstacle->_location.alt;
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should_climb = my_loc.alt > obstacle->_location.alt;
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}
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}
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@ -24,7 +24,7 @@ void Copter::set_home_to_current_location_inflight() {
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// get current location from EKF
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// get current location from EKF
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Location temp_loc;
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Location temp_loc;
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Location ekf_origin;
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Location ekf_origin;
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if (ahrs.get_position(temp_loc) && ahrs.get_origin(ekf_origin)) {
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if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
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temp_loc.alt = ekf_origin.alt;
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temp_loc.alt = ekf_origin.alt;
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if (!set_home(temp_loc, false)) {
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if (!set_home(temp_loc, false)) {
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return;
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return;
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@ -40,7 +40,7 @@ void Copter::set_home_to_current_location_inflight() {
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bool Copter::set_home_to_current_location(bool lock) {
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bool Copter::set_home_to_current_location(bool lock) {
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// get current location from EKF
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// get current location from EKF
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Location temp_loc;
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Location temp_loc;
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if (ahrs.get_position(temp_loc)) {
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if (ahrs.get_location(temp_loc)) {
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if (!set_home(temp_loc, lock)) {
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if (!set_home(temp_loc, lock)) {
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return false;
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return false;
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}
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}
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@ -8,7 +8,7 @@ void Copter::read_inertia()
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// pull position from ahrs
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// pull position from ahrs
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Location loc;
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Location loc;
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ahrs.get_position(loc);
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ahrs.get_location(loc);
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current_loc.lat = loc.lat;
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current_loc.lat = loc.lat;
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current_loc.lng = loc.lng;
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current_loc.lng = loc.lng;
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