AP_Rally: Added one getter method and made a utility method public.

libraries/AP_Rally/AP_Rally.cpp

@@ -80,7 +80,7 @@ bool AP_Rally::set_rally_point_with_index(uint8_t i, const RallyLocation &rallyL
 }
 
 // helper function to translate a RallyLocation to a Location
-Location AP_Rally::rally_location_to_location(const RallyLocation &rally_loc, const Location &home_loc) const
+Location AP_Rally::rally_location_to_location(const RallyLocation &rally_loc) const
 {
     Location ret = {};
 
@@ -90,7 +90,7 @@ Location AP_Rally::rally_location_to_location(const RallyLocation &rally_loc, co
     //Currently can't do true AGL on the APM.  Relative altitudes are
     //relative to HOME point's altitude.  Terrain on the board is inbound
     //for the PX4, though.  This line will need to be updated when that happens:
-    ret.alt = (rally_loc.alt*100UL) + home_loc.alt;
+    ret.alt = (rally_loc.alt*100UL) + _ahrs.get_home().alt;
 
     ret.lat = rally_loc.lat;
     ret.lng = rally_loc.lng;
@@ -109,7 +109,7 @@ bool AP_Rally::find_nearest_rally_point(const Location &current_loc, RallyLocati
         if (!get_rally_point_with_index(i, next_rally)) {
             continue;
         }
-        Location rally_loc = rally_location_to_location(next_rally, home_loc);
+        Location rally_loc = rally_location_to_location(next_rally);
         float dis = get_distance(current_loc, rally_loc);
 
         if (dis < min_dis || min_dis < 0) {
@@ -134,7 +134,7 @@ Location AP_Rally::calc_best_rally_or_home_location(const Location &current_loc,
     
     if (find_nearest_rally_point(current_loc, ral_loc)) {
         // valid rally point found
-        return_loc = rally_location_to_location(ral_loc, home_loc);
+        return_loc = rally_location_to_location(ral_loc);
     } else {
         // no valid rally point, return home position
         return_loc = home_loc;

libraries/AP_Rally/AP_Rally.h

@@ -46,6 +46,10 @@ public:
     bool set_rally_point_with_index(uint8_t i, const RallyLocation &rallyLoc);
     uint8_t get_rally_total() const { return _rally_point_total_count; }
 
+    float get_rally_limit_km() const { return _rally_limit_km; }
+    
+    Location rally_location_to_location(const RallyLocation &ret) const;
+
     // logic handling
     Location calc_best_rally_or_home_location(const Location &current_loc, float rtl_home_alt) const;
     bool find_nearest_rally_point(const Location &myloc, RallyLocation &ret) const;
@@ -53,9 +57,6 @@ public:
     // parameter block
     static const struct AP_Param::GroupInfo var_info[];
 
-private:
-    Location rally_location_to_location(const RallyLocation &rally_loc, const Location &home_loc) const;
-
 private:
     // internal variables
     const AP_AHRS& _ahrs; // used only for home position