AP_Avoidance: rename AP_AHRS::get_position to get_location

libraries/AP_Avoidance/AP_Avoidance.cpp

@@ -457,7 +457,7 @@ void AP_Avoidance::check_for_threats()
     const AP_AHRS &_ahrs = AP::ahrs();
 
     Location my_loc;
-    if (!_ahrs.get_position(my_loc)) {
+    if (!_ahrs.get_location(my_loc)) {
         // if we don't know our own location we can't determine any threat level
         return;
     }
@@ -542,7 +542,7 @@ void AP_Avoidance::handle_avoidance_local(AP_Avoidance::Obstacle *threat)
             action = (MAV_COLLISION_ACTION)_fail_action.get();
             Location my_loc;
             if (action != MAV_COLLISION_ACTION_NONE && _fail_altitude_minimum > 0 &&
-                AP::ahrs().get_position(my_loc) && ((my_loc.alt*0.01f) < _fail_altitude_minimum)) {
+                AP::ahrs().get_location(my_loc) && ((my_loc.alt*0.01f) < _fail_altitude_minimum)) {
                 // disable avoidance when close to ground, report only
                 action = MAV_COLLISION_ACTION_REPORT;
 			}
@@ -617,7 +617,7 @@ bool AP_Avoidance::get_vector_perpendicular(const AP_Avoidance::Obstacle *obstac
     }
 
     Location my_abs_pos;
-    if (!AP::ahrs().get_position(my_abs_pos)) {
+    if (!AP::ahrs().get_location(my_abs_pos)) {
         // we should not get to here!  If we don't know our position
         // we can't know if there are any threats, for starters!
         return false;