AP_AHRS: rename AP_AHRS::get_position to get_location
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@ -718,11 +718,11 @@ void AP_AHRS::reset()
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// dead-reckoning support
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// dead-reckoning support
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bool AP_AHRS::get_position(struct Location &loc) const
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bool AP_AHRS::get_location(struct Location &loc) const
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{
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{
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switch (active_EKF_type()) {
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switch (active_EKF_type()) {
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case EKFType::NONE:
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case EKFType::NONE:
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return dcm.get_position(loc);
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return dcm.get_location(loc);
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#if HAL_NAVEKF2_AVAILABLE
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#if HAL_NAVEKF2_AVAILABLE
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case EKFType::TWO:
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case EKFType::TWO:
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@ -763,7 +763,7 @@ bool AP_AHRS::get_position(struct Location &loc) const
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// fall back to position from DCM
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// fall back to position from DCM
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if (!always_use_EKF()) {
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if (!always_use_EKF()) {
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return dcm.get_position(loc);
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return dcm.get_location(loc);
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}
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}
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return false;
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return false;
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}
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}
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@ -1170,7 +1170,7 @@ bool AP_AHRS::get_secondary_position(struct Location &loc) const
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case EKFType::NONE:
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case EKFType::NONE:
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// return DCM position
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// return DCM position
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dcm.get_position(loc);
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dcm.get_location(loc);
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return true;
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return true;
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#if HAL_NAVEKF2_AVAILABLE
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#if HAL_NAVEKF2_AVAILABLE
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@ -1539,7 +1539,7 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
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return false;
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return false;
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}
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}
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Location loc, orgn;
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Location loc, orgn;
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if (!get_position(loc) ||
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if (!get_location(loc) ||
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!get_origin(orgn)) {
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!get_origin(orgn)) {
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return false;
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return false;
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}
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}
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@ -1613,7 +1613,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
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#if AP_AHRS_SIM_ENABLED
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#if AP_AHRS_SIM_ENABLED
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case EKFType::SIM: {
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case EKFType::SIM: {
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Location loc, orgn;
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Location loc, orgn;
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if (!get_position(loc) ||
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if (!get_location(loc) ||
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!get_origin(orgn)) {
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!get_origin(orgn)) {
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return false;
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return false;
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}
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}
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@ -1624,7 +1624,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
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#if HAL_EXTERNAL_AHRS_ENABLED
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#if HAL_EXTERNAL_AHRS_ENABLED
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case EKFType::EXTERNAL: {
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case EKFType::EXTERNAL: {
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Location loc, orgn;
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Location loc, orgn;
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if (!get_position(loc) ||
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if (!get_location(loc) ||
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!get_origin(orgn)) {
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!get_origin(orgn)) {
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return false;
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return false;
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}
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}
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@ -1698,7 +1698,7 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const
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case EKFType::EXTERNAL: {
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case EKFType::EXTERNAL: {
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Location orgn, loc;
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Location orgn, loc;
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if (!get_origin(orgn) ||
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if (!get_origin(orgn) ||
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!get_position(loc)) {
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!get_location(loc)) {
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return false;
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return false;
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}
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}
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posD = -(loc.alt - orgn.alt)*0.01;
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posD = -(loc.alt - orgn.alt)*0.01;
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@ -105,7 +105,7 @@ public:
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void reset();
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void reset();
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// dead-reckoning support
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// dead-reckoning support
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bool get_position(struct Location &loc) const;
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bool get_location(struct Location &loc) const;
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// get latest altitude estimate above ground level in meters and validity flag
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// get latest altitude estimate above ground level in meters and validity flag
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bool get_hagl(float &hagl) const WARN_IF_UNUSED;
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bool get_hagl(float &hagl) const WARN_IF_UNUSED;
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@ -116,7 +116,7 @@ public:
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// get our current position estimate. Return true if a position is available,
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// get our current position estimate. Return true if a position is available,
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// otherwise false. This call fills in lat, lng and alt
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// otherwise false. This call fills in lat, lng and alt
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virtual bool get_position(struct Location &loc) const WARN_IF_UNUSED = 0;
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virtual bool get_location(struct Location &loc) const WARN_IF_UNUSED = 0;
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// get latest altitude estimate above ground level in meters and validity flag
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// get latest altitude estimate above ground level in meters and validity flag
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virtual bool get_hagl(float &height) const WARN_IF_UNUSED { return false; }
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virtual bool get_hagl(float &height) const WARN_IF_UNUSED { return false; }
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@ -1044,7 +1044,7 @@ void AP_AHRS_DCM::estimate_wind(void)
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// return our current position estimate using
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// return our current position estimate using
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// dead-reckoning or GPS
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// dead-reckoning or GPS
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bool AP_AHRS_DCM::get_position(struct Location &loc) const
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bool AP_AHRS_DCM::get_location(struct Location &loc) const
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{
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{
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loc.lat = _last_lat;
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loc.lat = _last_lat;
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loc.lng = _last_lng;
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loc.lng = _last_lng;
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@ -1239,7 +1239,7 @@ bool AP_AHRS_DCM::get_relative_position_NED_origin(Vector3f &posNED) const
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return false;
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return false;
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}
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}
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Location loc;
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Location loc;
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if (!AP_AHRS_DCM::get_position(loc)) {
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if (!AP_AHRS_DCM::get_location(loc)) {
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return false;
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return false;
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}
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}
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posNED = origin.get_distance_NED(loc);
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posNED = origin.get_distance_NED(loc);
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@ -62,7 +62,7 @@ public:
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}
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}
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// dead-reckoning support
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// dead-reckoning support
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virtual bool get_position(struct Location &loc) const override;
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virtual bool get_location(struct Location &loc) const override;
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// status reporting
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// status reporting
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float get_error_rp() const {
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float get_error_rp() const {
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@ -80,7 +80,7 @@ void AP_AHRS::Write_Origin(LogOriginType origin_type, const Location &loc) const
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void AP_AHRS::Write_POS() const
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void AP_AHRS::Write_POS() const
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{
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{
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Location loc;
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Location loc;
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if (!get_position(loc)) {
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if (!get_location(loc)) {
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return;
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return;
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}
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}
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float home, origin;
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float home, origin;
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@ -85,8 +85,8 @@ public:
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wrappers around ahrs functions which pass-thru directly. See
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wrappers around ahrs functions which pass-thru directly. See
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AP_AHRS.h for description of each function
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AP_AHRS.h for description of each function
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*/
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*/
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bool get_position(struct Location &loc) const WARN_IF_UNUSED {
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bool get_location(struct Location &loc) const WARN_IF_UNUSED {
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return ahrs.get_position(loc);
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return ahrs.get_location(loc);
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}
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}
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Vector3f wind_estimate(void) {
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Vector3f wind_estimate(void) {
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