From f48d757bd40091e7fd7a8c35691fdf2ffb651bd5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 2 Jan 2019 11:09:02 +1100
Subject: [PATCH] Copter: adjust for location flags being moved out of union

---
 ArduCopter/GCS_Mavlink.cpp | 14 +++++++-------
 ArduCopter/RC_Channel.cpp  |  4 +---
 ArduCopter/inertia.cpp     |  2 +-
 3 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index f8e16eca94..0fc8154a57 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -525,7 +525,7 @@ bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
 void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
 {
     // add home alt if needed
-    if (cmd.content.location.flags.relative_alt) {
+    if (cmd.content.location.relative_alt) {
         cmd.content.location.alt += copter.ahrs.get_home().alt;
     }
 
@@ -1248,13 +1248,13 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             switch (packet.coordinate_frame) {
                 case MAV_FRAME_GLOBAL_RELATIVE_ALT: // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT
                 case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
-                    loc.flags.relative_alt = true;
-                    loc.flags.terrain_alt = false;
+                    loc.relative_alt = true;
+                    loc.terrain_alt = false;
                     break;
                 case MAV_FRAME_GLOBAL_TERRAIN_ALT:
                 case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
-                    loc.flags.relative_alt = true;
-                    loc.flags.terrain_alt = true;
+                    loc.relative_alt = true;
+                    loc.terrain_alt = true;
                     break;
                 case MAV_FRAME_GLOBAL:
                 case MAV_FRAME_GLOBAL_INT:
@@ -1262,8 +1262,8 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
                     // pv_location_to_vector does not support absolute altitudes.
                     // Convert the absolute altitude to a home-relative altitude before calling pv_location_to_vector
                     loc.alt -= copter.ahrs.get_home().alt;
-                    loc.flags.relative_alt = true;
-                    loc.flags.terrain_alt = false;
+                    loc.relative_alt = true;
+                    loc.terrain_alt = false;
                     break;
             }
             pos_neu_cm = copter.pv_location_to_vector(loc);
diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index ba14145433..1463bbefdd 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -192,10 +192,8 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
                 if (copter.mode_auto.mission.num_commands() == 0) {
                     // set our location ID to 16, MAV_CMD_NAV_WAYPOINT
                     cmd.id = MAV_CMD_NAV_TAKEOFF;
-                    cmd.content.location.options = 0;
                     cmd.p1 = 0;
-                    cmd.content.location.lat = 0;
-                    cmd.content.location.lng = 0;
+                    memset(&cmd.content.location, 0, sizeof(cmd.content.location));
                     cmd.content.location.alt = MAX(copter.current_loc.alt,100);
 
                     // use the current altitude for the target alt for takeoff.
diff --git a/ArduCopter/inertia.cpp b/ArduCopter/inertia.cpp
index 60fafff124..eb46c8e03a 100644
--- a/ArduCopter/inertia.cpp
+++ b/ArduCopter/inertia.cpp
@@ -25,6 +25,6 @@ void Copter::read_inertia()
     }
 
     // set flags and get velocity
-    current_loc.flags.relative_alt = true;
+    current_loc.relative_alt = true;
     climb_rate = inertial_nav.get_velocity_z();
 }