Rover: create and use location_from_command_t

Rover/GCS_Mavlink.cpp

@@ -699,20 +699,11 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_com
         return MAV_RESULT_DENIED;
     }
 
-    Location request_location {};
-    request_location.lat = packet.x;
-    request_location.lng = packet.y;
-
-    if (fabsf(packet.z) > LOCATION_ALT_MAX_M) {
+    Location requested_location {};
+    if (!location_from_command_t(packet, requested_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 (!rover.control_mode->in_guided_mode()) {
         if (!rover.set_mode(Mode::Number::GUIDED, ModeReason::GCS_COMMAND)) {
             return MAV_RESULT_FAILED;
@@ -726,7 +717,7 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_com
     }
 
     // set the destination
-    if (!rover.mode_guided.set_desired_location(request_location)) {
+    if (!rover.mode_guided.set_desired_location(requested_location)) {
         return MAV_RESULT_FAILED;
     }