Tracker: adjust for Location_Class and Location unification

AntennaTracker/AntennaTracker.cpp

@@ -141,7 +141,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 Tracker::Tracker(void)
     : DataFlash(g.log_bitmask)
 {
-    memset(&current_loc, 0, sizeof(current_loc));
     memset(&vehicle, 0, sizeof(vehicle));
 }
 

AntennaTracker/GCS_Mavlink.cpp

@@ -450,28 +450,31 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
 
         mavlink_msg_mission_item_decode(msg, &packet);
 
-        struct Location tell_command = {};
+        struct Location tell_command;
 
         switch (packet.frame)
         {
         case MAV_FRAME_MISSION:
         case MAV_FRAME_GLOBAL:
         {
-            tell_command.lat = 1.0e7f*packet.x;                                     // in as DD converted to * t7
-            tell_command.lng = 1.0e7f*packet.y;                                     // in as DD converted to * t7
-            tell_command.alt = packet.z*1.0e2f;                                     // in as m converted to cm
-            tell_command.options = 0;                                     // absolute altitude
+            tell_command = Location{
+                int32_t(1.0e7f*packet.x), // in as DD converted to * t7
+                int32_t(1.0e7f*packet.y), // in as DD converted to * t7
+                int32_t(packet.z*1.0e2f), // in as m converted to cm
+                Location::ALT_FRAME_ABSOLUTE
+            };
             break;
         }
 
 #ifdef MAV_FRAME_LOCAL_NED
         case MAV_FRAME_LOCAL_NED:                         // local (relative to home position)
         {
-            tell_command.lat = 1.0e7f*ToDeg(packet.x/
-                                           (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
-            tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
-            tell_command.alt = -packet.z*1.0e2f;
-            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
+            tell_command = Location{
+                int32_t(1.0e7f*ToDeg(packet.x/(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat),
+                int32_t(1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng),
+                int32_t(-packet.z*1.0e2f),
+                Location::ALT_FRAME_ABOVE_HOME
+            };
             break;
         }
 #endif
@@ -479,21 +482,24 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
 #ifdef MAV_FRAME_LOCAL
         case MAV_FRAME_LOCAL:                         // local (relative to home position)
         {
-            tell_command.lat = 1.0e7f*ToDeg(packet.x/
-                                           (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
-            tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
-            tell_command.alt = packet.z*1.0e2f;
-            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
+            tell_command = {
+                int32_t(1.0e7f*ToDeg(packet.x/(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat),
+                int32_t(1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng),
+                int32_t(packet.z*1.0e2f),
+                Location::ALT_FRAME_ABOVE_HOME
+            };
             break;
         }
 #endif
 
         case MAV_FRAME_GLOBAL_RELATIVE_ALT:                         // absolute lat/lng, relative altitude
         {
-            tell_command.lat = 1.0e7f * packet.x;                                     // in as DD converted to * t7
-            tell_command.lng = 1.0e7f * packet.y;                                     // in as DD converted to * t7
-            tell_command.alt = packet.z * 1.0e2f;
-            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;                                     // store altitude relative!! Always!!
+            tell_command = {
+                int32_t(1.0e7f * packet.x), // in as DD converted to * t7
+                int32_t(1.0e7f * packet.y), // in as DD converted to * t7
+                int32_t(packet.z * 1.0e2f),
+                Location::ALT_FRAME_ABOVE_HOME
+            };
             break;
         }
 

AntennaTracker/defines.h

@@ -1,10 +1,5 @@
 #pragma once
 
-// Command/Waypoint/Location Options Bitmask
-//--------------------
-#define MASK_OPTIONS_RELATIVE_ALT       (1<<0)          // 1 = Relative
-                                                        // altitude
-
 // Controller modes
 // ----------------
 

AntennaTracker/system.cpp

@@ -127,17 +127,19 @@ bool Tracker::get_home_eeprom(struct Location &loc)
     }
 
     // read WP position
-    loc.options = wp_storage.read_byte(0);
-    loc.alt = wp_storage.read_uint32(1);
-    loc.lat = wp_storage.read_uint32(5);
-    loc.lng = wp_storage.read_uint32(9);
+    loc = {
+        int32_t(wp_storage.read_uint32(5)),
+        int32_t(wp_storage.read_uint32(9)),
+        int32_t(wp_storage.read_uint32(1)),
+        Location::ALT_FRAME_ABSOLUTE
+    };
 
     return true;
 }
 
 void Tracker::set_home_eeprom(struct Location temp)
 {
-    wp_storage.write_byte(0, temp.options);
+    wp_storage.write_byte(0, 0);
     wp_storage.write_uint32(1, temp.alt);
     wp_storage.write_uint32(5, temp.lat);
     wp_storage.write_uint32(9, temp.lng);