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AP_AHRS: rename AP_AHRS::get_position to get_location

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This commit is contained in:
Peter Barker 2022-01-21 10:42:40 +11:00 committed by Andrew Tridgell
parent e089f23c70
commit ff63b62b0c
7 changed files with 16 additions and 16 deletions
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16
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -718,11 +718,11 @@ void AP_AHRS::reset()
}
// dead-reckoning support
bool AP_AHRS::get_position(struct Location &loc) const
bool AP_AHRS::get_location(struct Location &loc) const
{
switch (active_EKF_type()) {
case EKFType::NONE:
return dcm.get_position(loc);
return dcm.get_location(loc);
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
@ -763,7 +763,7 @@ bool AP_AHRS::get_position(struct Location &loc) const
// fall back to position from DCM
if (!always_use_EKF()) {
return dcm.get_position(loc);
return dcm.get_location(loc);
}
return false;
}
@ -1170,7 +1170,7 @@ bool AP_AHRS::get_secondary_position(struct Location &loc) const
case EKFType::NONE:
// return DCM position
dcm.get_position(loc);
dcm.get_location(loc);
return true;
#if HAL_NAVEKF2_AVAILABLE
@ -1539,7 +1539,7 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
return false;
}
Location loc, orgn;
if (!get_position(loc) ||
if (!get_location(loc) ||
!get_origin(orgn)) {
return false;
}
@ -1613,7 +1613,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM: {
Location loc, orgn;
if (!get_position(loc) ||
if (!get_location(loc) ||
!get_origin(orgn)) {
return false;
}
@ -1624,7 +1624,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
#if HAL_EXTERNAL_AHRS_ENABLED
case EKFType::EXTERNAL: {
Location loc, orgn;
if (!get_position(loc) ||
if (!get_location(loc) ||
!get_origin(orgn)) {
return false;
}
@ -1698,7 +1698,7 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const
case EKFType::EXTERNAL: {
Location orgn, loc;
if (!get_origin(orgn) ||
!get_position(loc)) {
!get_location(loc)) {
return false;
}
posD = -(loc.alt - orgn.alt)*0.01;

2
libraries/AP_AHRS/AP_AHRS.h
View File

@ -105,7 +105,7 @@ public:
void reset();
// dead-reckoning support
bool get_position(struct Location &loc) const;
bool get_location(struct Location &loc) const;
// get latest altitude estimate above ground level in meters and validity flag
bool get_hagl(float &hagl) const WARN_IF_UNUSED;

2
libraries/AP_AHRS/AP_AHRS_Backend.h
View File

@ -116,7 +116,7 @@ public:
// get our current position estimate. Return true if a position is available,
// otherwise false. This call fills in lat, lng and alt
virtual bool get_position(struct Location &loc) const WARN_IF_UNUSED = 0;
virtual bool get_location(struct Location &loc) const WARN_IF_UNUSED = 0;
// get latest altitude estimate above ground level in meters and validity flag
virtual bool get_hagl(float &height) const WARN_IF_UNUSED { return false; }

4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1044,7 +1044,7 @@ void AP_AHRS_DCM::estimate_wind(void)
// return our current position estimate using
// dead-reckoning or GPS
bool AP_AHRS_DCM::get_position(struct Location &loc) const
bool AP_AHRS_DCM::get_location(struct Location &loc) const
{
loc.lat = _last_lat;
loc.lng = _last_lng;
@ -1239,7 +1239,7 @@ bool AP_AHRS_DCM::get_relative_position_NED_origin(Vector3f &posNED) const
return false;
}
Location loc;
if (!AP_AHRS_DCM::get_position(loc)) {
if (!AP_AHRS_DCM::get_location(loc)) {
return false;
}
posNED = origin.get_distance_NED(loc);

2
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -62,7 +62,7 @@ public:
}
// dead-reckoning support
virtual bool get_position(struct Location &loc) const override;
virtual bool get_location(struct Location &loc) const override;
// status reporting
float get_error_rp() const {

2
libraries/AP_AHRS/AP_AHRS_Logging.cpp
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@ -80,7 +80,7 @@ void AP_AHRS::Write_Origin(LogOriginType origin_type, const Location &loc) const
void AP_AHRS::Write_POS() const
{
Location loc;
if (!get_position(loc)) {
if (!get_location(loc)) {
return;
}
float home, origin;

4
libraries/AP_AHRS/AP_AHRS_View.h
View File

@ -85,8 +85,8 @@ public:
wrappers around ahrs functions which pass-thru directly. See
AP_AHRS.h for description of each function
*/
bool get_position(struct Location &loc) const WARN_IF_UNUSED {
return ahrs.get_position(loc);
bool get_location(struct Location &loc) const WARN_IF_UNUSED {
return ahrs.get_location(loc);
}
Vector3f wind_estimate(void) {