AP_L1_Control: use projected position for turns

libraries/AP_L1_Control/AP_L1_Control.cpp

@@ -97,7 +97,7 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
 	float K_L1 = 4.0f * _L1_damping * _L1_damping;
 
 	// Get current position and velocity
-    _ahrs->get_position(_current_loc);
+    _ahrs->get_projected_position(_current_loc);
 
 	// update _target_bearing_cd
 	_target_bearing_cd = get_bearing_cd(_current_loc, next_WP);
@@ -197,7 +197,7 @@ void AP_L1_Control::update_loiter(const struct Location &center_WP, float radius
 	float K_L1 = 4.0f * _L1_damping * _L1_damping;
 
 	//Get current position and velocity
-    _ahrs->get_position(_current_loc);
+    _ahrs->get_projected_position(_current_loc);
 
 	// update _target_bearing_cd
 	_target_bearing_cd = get_bearing_cd(_current_loc, center_WP);