AC_Avoidance: make Location(Vector3f) require ALTFRAME

libraries/AC_Avoidance/AP_OADatabase.cpp

@@ -405,7 +405,7 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
         }
 
         // convert object's position as an offset from EKF origin to Location
-        const Location item_loc(Vector3f(_database.items[idx].pos.x * 100.0f, _database.items[idx].pos.y * 100.0f, _database.items[idx].pos.z * 100.0f));
+        const Location item_loc(Vector3f(_database.items[idx].pos.x * 100.0f, _database.items[idx].pos.y * 100.0f, _database.items[idx].pos.z * 100.0f), Location::AltFrame::ABOVE_ORIGIN);
 
         mavlink_msg_adsb_vehicle_send(chan,
             idx,
@@ -476,5 +476,3 @@ AP_OADatabase *oadatabase()
 }
 
 }
-
-

libraries/AC_Avoidance/AP_OADijkstra.cpp

@@ -140,7 +140,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
         Vector2f origin_pos;
         if ((_path_idx_returned > 0) && get_shortest_path_point(_path_idx_returned-1, origin_pos)) {
             // convert offset from ekf origin to Location
-            Location temp_loc(Vector3f(origin_pos.x, origin_pos.y, 0.0f));
+            Location temp_loc(Vector3f(origin_pos.x, origin_pos.y, 0.0f), Location::AltFrame::ABOVE_ORIGIN);
             origin_new = temp_loc;
         } else {
             // for first point use current loc as origin
@@ -148,7 +148,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
         }
 
         // convert offset from ekf origin to Location
-        Location temp_loc(Vector3f(dest_pos.x, dest_pos.y, 0.0f));
+        Location temp_loc(Vector3f(dest_pos.x, dest_pos.y, 0.0f), Location::AltFrame::ABOVE_ORIGIN);
         destination_new = destination;
         destination_new.lat = temp_loc.lat;
         destination_new.lng = temp_loc.lng;
@@ -904,4 +904,3 @@ bool AP_OADijkstra::get_shortest_path_point(uint8_t point_num, Vector2f& pos)
     // we should never reach here but just in case
     return false;
 }
-