From 54cf46b8e9ca6f1d702413ea187faffdfb243585 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 21 Jan 2022 10:42:41 +1100 Subject: [PATCH] AR_WPNav: rename AP_AHRS::get_position to get_location --- libraries/AR_WPNav/AR_WPNav.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AR_WPNav/AR_WPNav.cpp b/libraries/AR_WPNav/AR_WPNav.cpp index 016e333541..1e550ca023 100644 --- a/libraries/AR_WPNav/AR_WPNav.cpp +++ b/libraries/AR_WPNav/AR_WPNav.cpp @@ -108,7 +108,7 @@ void AR_WPNav::update(float dt) // exit immediately if no current location, origin or destination Location current_loc; float speed; - if (!hal.util->get_soft_armed() || !_orig_and_dest_valid || !AP::ahrs().get_position(current_loc) || !_atc.get_forward_speed(speed)) { + if (!hal.util->get_soft_armed() || !_orig_and_dest_valid || !AP::ahrs().get_location(current_loc) || !_atc.get_forward_speed(speed)) { _desired_speed_limited = _atc.get_desired_speed_accel_limited(0.0f, dt); _desired_turn_rate_rads = 0.0f; return; @@ -263,7 +263,7 @@ bool AR_WPNav::set_desired_location_NED(const Vector3f& destination, float next_ bool AR_WPNav::get_stopping_location(Location& stopping_loc) { Location current_loc; - if (!AP::ahrs().get_position(current_loc)) { + if (!AP::ahrs().get_location(current_loc)) { return false; } @@ -350,7 +350,7 @@ void AR_WPNav::update_distance_and_bearing_to_destination() { // if no current location leave distance unchanged Location current_loc; - if (!_orig_and_dest_valid || !AP::ahrs().get_position(current_loc)) { + if (!_orig_and_dest_valid || !AP::ahrs().get_location(current_loc)) { _distance_to_destination = 0.0f; _wp_bearing_cd = 0.0f;