AP_Scripting: rename AP_AHRS::get_position to get_location

libraries/AP_Scripting/README.md

@@ -32,7 +32,7 @@ An example script is given below:
 
 ```lua
 function update () -- periodic function that will be called
-  current_pos = ahrs:get_position()
+  current_pos = ahrs:get_location()
   home = ahrs:get_home()
   if current_pos and home then
     distance = current_pos:get_distance(ahrs:get_home()) -- calculate the distance from home

libraries/AP_Scripting/docs/docs.lua

@@ -1880,7 +1880,7 @@ function ahrs:get_home() end
 
 -- desc
 ---@return Location_ud|nil
-function ahrs:get_position() end
+function ahrs:get_location() end
 
 -- desc
 ---@return number

libraries/AP_Scripting/examples/SN-GCJA5-particle-sensor.lua

@@ -160,7 +160,7 @@ function update() -- this is the loop which periodically runs
   local alt = 0
 
   -- try and get true position, but don't fail for no GPS lock
-  local position = ahrs:get_position()
+  local position = ahrs:get_location()
   if position then
     lat = position:lat()*10^-7
     lng = position:lng()*10^-7

libraries/AP_Scripting/examples/ahrs-set-home-to-vehicle-location.lua

@@ -4,7 +4,7 @@
 function update ()
 
     if ahrs:home_is_set() then
-        ahrs:set_home(ahrs:get_position())
+        ahrs:set_home(ahrs:get_location())
         gcs:send_text(0, "Home position reset")
     end
 

libraries/AP_Scripting/examples/copter-fast-descent.lua

@@ -66,7 +66,7 @@ function update()
 
   if (stage == 0) then            -- Stage0: initialise
     local home = ahrs:get_home()
-    local curr_loc = ahrs:get_position()
+    local curr_loc = ahrs:get_location()
     if home and curr_loc then
       circle_center_pos = ahrs:get_relative_position_NED_origin()
       circle_radius_rate_ms = 0   -- reset circle radius expandion rate to zero

libraries/AP_Scripting/examples/copter-fly-vertical-circle.lua

@@ -38,7 +38,7 @@ function update()
         end
       elseif (stage == 2) then      -- Stage2: check if vehicle has reached target altitude
         local home = ahrs:get_home()
-        local curr_loc = ahrs:get_position()
+        local curr_loc = ahrs:get_location()
         if home and curr_loc then
           local vec_from_home = home:get_distance_NED(curr_loc)
           gcs:send_text(0, "alt above home: " .. tostring(math.floor(-vec_from_home:z())))

libraries/AP_Scripting/examples/easter-egg.lua

@@ -26,7 +26,7 @@ function find_next_point ()
     target:lng(top_left:lng())
     target:offset(math.random()*-100, math.random()*10)
     gcs:send_text(6, string.format("New target %d %d", target:lat(), target:lng()))
-    local current = ahrs:get_position()
+    local current = ahrs:get_location()
     if current then
         last_distance = current:get_distance(target)
     end
@@ -35,7 +35,7 @@ function find_next_point ()
 end
 
 function update ()
-    local current = ahrs:get_position()
+    local current = ahrs:get_location()
     if current then
         local dist = target:get_distance(current)
         local now = millis()

libraries/AP_Scripting/examples/fw_vtol_failsafe.lua

@@ -96,7 +96,7 @@ end
 -- check if we should switch to QLAND
 function check_qland()
   local target = vehicle:get_target_location()
-  local pos = ahrs:get_position()
+  local pos = ahrs:get_location()
   if not target or not pos then
     -- we can't estimate distance
     return

libraries/AP_Scripting/examples/mission-edit-demo.lua

@@ -7,7 +7,7 @@ demostage = 0
 eventcounter = 0
 
 function update () -- periodic function that will be called
-    current_pos = ahrs:get_position()
+    current_pos = ahrs:get_location()
 
   -- adds new/extra mission item at the end by copying the last one and modifying it
   -- get number of last mission item
@@ -257,7 +257,7 @@ function stage7 ()
 end
 
 function wait_for_home()
-  current_pos = ahrs:get_position()
+  current_pos = ahrs:get_location()
   if current_pos == nil then
      return wait_for_home, 1000
   end

libraries/AP_Scripting/examples/plane-wind-fs.lua

@@ -93,7 +93,7 @@ local timer_active = true
 -- otherwise returns the time in seconds to get back
 local function time_to_home()
   local home = ahrs:get_home()
-  local position = ahrs:get_position()
+  local position = ahrs:get_location()
   local wind = ahrs:wind_estimate()
 
   if home and position and wind then
@@ -201,7 +201,7 @@ function track_return_time()
   end
 
   local home = ahrs:get_home()
-  local position = ahrs:get_position()
+  local position = ahrs:get_location()
   if home and position then
     local now = millis()
 
@@ -373,7 +373,7 @@ function update()
 
         -- Print the return distance
         --[[local home = ahrs:get_home()
-        local position = ahrs:get_position()
+        local position = ahrs:get_location()
         if home and position then
           return_distance = position:get_distance(home)
         end

libraries/AP_Scripting/examples/plane_aerobatics.lua

@@ -161,7 +161,7 @@ local function height_controller(kP_param,kI_param,KnifeEdge_param,Imax)
    local PI = PI_controller(kP:get(), kI:get(), Imax)
 
    function self.update(target)
-      local target_pitch = PI.update(initial_height, ahrs:get_position():alt()*0.01)
+      local target_pitch = PI.update(initial_height, ahrs:get_location():alt()*0.01)
       local roll_rad = ahrs:get_roll()
       local ke_add = math.abs(math.sin(roll_rad)) * KnifeEdge:get()
       target_pitch = target_pitch + ke_add
@@ -371,7 +371,7 @@ function update()
          running = false
          last_id = id
          initial_yaw_deg = math.deg(ahrs:get_yaw())
-         initial_height = ahrs:get_position():alt()*0.01
+         initial_height = ahrs:get_location():alt()*0.01
 
          -- work out yaw between previous WP and next WP
          local cnum = mission:get_current_nav_index()

libraries/AP_Scripting/examples/set-target-location.lua

@@ -35,7 +35,7 @@ function update()
         -- change to land mode when within 2m of home
         if not (mode == copter_land_mode_num) then
           local home = ahrs:get_home()
-          local curr_loc = ahrs:get_position()
+          local curr_loc = ahrs:get_location()
           if home and curr_loc then
             local home_dist = curr_loc:get_distance(home)   -- get horizontal distance to home
             if (home_dist < wp_radius) then                 -- change to land mode if close

libraries/AP_Scripting/examples/set-target-velocity.lua

@@ -31,7 +31,7 @@ function update()
         end
       elseif (stage == 2) then      -- Stage2: check if vehicle has reached target altitude
         local home = ahrs:get_home()
-        local curr_loc = ahrs:get_position()
+        local curr_loc = ahrs:get_location()
         if home and curr_loc then
           local vec_from_home = home:get_distance_NED(curr_loc)
           gcs:send_text(0, "alt above home: " .. tostring(math.floor(-vec_from_home:z())))
@@ -41,7 +41,7 @@ function update()
           end
         end
       elseif (stage >= 3 and stage <= 6) then   -- fly a square using velocity controller
-        local curr_loc = ahrs:get_position()
+        local curr_loc = ahrs:get_location()
         local target_vel = Vector3f()           -- create velocity vector
         if (bottom_left_loc and curr_loc) then
           local dist_NE = bottom_left_loc:get_distance_NE(curr_loc)

libraries/AP_Scripting/examples/set_target_posvel_circle.lua

@@ -69,7 +69,7 @@ function update()
         end
     else 
         -- calculate test starting location in NED
-        local cur_loc = ahrs:get_position()        
+        local cur_loc = ahrs:get_location()        
         if cur_loc then
              test_start_location = cur_loc.get_vector_from_origin_NEU(cur_loc)             
              if test_start_location then

libraries/AP_Scripting/generator/description/bindings.desc

@@ -28,7 +28,8 @@ singleton AP_AHRS semaphore
 singleton AP_AHRS method get_roll float
 singleton AP_AHRS method get_pitch float
 singleton AP_AHRS method get_yaw float
-singleton AP_AHRS method get_position boolean Location'Null
+singleton AP_AHRS method get_location boolean Location'Null
+singleton AP_AHRS method get_location alias get_position
 singleton AP_AHRS method get_home Location
 singleton AP_AHRS method get_gyro Vector3f
 singleton AP_AHRS method get_accel Vector3f