Blimp: create and use location_from_command_t

Blimp/GCS_Mavlink.cpp

@@ -450,19 +450,10 @@ MAV_RESULT GCS_MAVLINK_Blimp::handle_command_int_do_reposition(const mavlink_com
     }
 
     Location request_location {};
-    request_location.lat = packet.x;
-    request_location.lng = packet.y;
-
-    if (fabsf(packet.z) > LOCATION_ALT_MAX_M) {
+    if (!location_from_command_t(packet, request_location)) {
         return MAV_RESULT_DENIED;
     }
 
-    Location::AltFrame frame;
-    if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)packet.frame, frame)) {
-        return MAV_RESULT_DENIED; // failed as the location is not valid
-    }
-    request_location.set_alt_cm((int32_t)(packet.z * 100.0f), frame);
-
     if (request_location.sanitize(blimp.current_loc)) {
         // if the location wasn't already sane don't load it
         return MAV_RESULT_DENIED; // failed as the location is not valid