AP_Mount: set_roi_target and set_target_sysid lose struct and const before args

libraries/AP_Mount/AP_Mount.cpp

@@ -772,7 +772,7 @@ void AP_Mount::set_target_sysid(uint8_t instance, uint8_t sysid)
 }
 
 // set_roi_target - sets target location that mount should attempt to point towards
-void AP_Mount::set_roi_target(uint8_t instance, const struct Location &target_loc)
+void AP_Mount::set_roi_target(uint8_t instance, const Location &target_loc)
 {
     // call instance's set_roi_cmd
     if (check_instance(instance)) {

libraries/AP_Mount/AP_Mount.h

@@ -128,12 +128,12 @@ public:
     void set_angle_targets(uint8_t instance, float roll, float tilt, float pan);
 
     // set_roi_target - sets target location that mount should attempt to point towards
-    void set_roi_target(const struct Location &target_loc) { set_roi_target(_primary,target_loc); }
-    void set_roi_target(uint8_t instance, const struct Location &target_loc);
+    void set_roi_target(const Location &target_loc) { set_roi_target(_primary,target_loc); }
+    void set_roi_target(uint8_t instance, const Location &target_loc);
 
     // point at system ID sysid
-    void set_target_sysid(uint8_t instance, const uint8_t sysid);
-    void set_target_sysid(const uint8_t sysid) { set_target_sysid(_primary, sysid); }
+    void set_target_sysid(uint8_t sysid) { set_target_sysid(_primary, sysid); }
+    void set_target_sysid(uint8_t instance, uint8_t sysid);
 
     // mavlink message handling:
     MAV_RESULT handle_command_long(const mavlink_command_long_t &packet);

libraries/AP_Mount/AP_Mount_Backend.cpp

@@ -19,7 +19,7 @@ void AP_Mount_Backend::set_angle_targets(float roll, float tilt, float pan)
 }
 
 // set_roi_target - sets target location that mount should attempt to point towards
-void AP_Mount_Backend::set_roi_target(const struct Location &target_loc)
+void AP_Mount_Backend::set_roi_target(const Location &target_loc)
 {
     // set the target gps location
     _state._roi_target = target_loc;
@@ -186,7 +186,7 @@ bool AP_Mount_Backend::calc_angle_to_sysid_target(Vector3f& angles_to_target_rad
 }
 
 // calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (in radians) to point at the given target
-bool AP_Mount_Backend::calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan) const
+bool AP_Mount_Backend::calc_angle_to_location(const Location &target, Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan) const
 {
     Location current_loc;
     if (!AP::ahrs().get_location(current_loc)) {

libraries/AP_Mount/AP_Mount_Backend.h

@@ -56,7 +56,7 @@ public:
     void set_angle_targets(float roll, float tilt, float pan);
 
     // set_roi_target - sets target location that mount should attempt to point towards
-    void set_roi_target(const struct Location &target_loc);
+    void set_roi_target(const Location &target_loc);
 
     // set_sys_target - sets system that mount should attempt to point towards
     void set_target_sysid(uint8_t sysid);
@@ -98,7 +98,7 @@ protected:
 
     // calc_angle_to_location - calculates the earth-frame roll, tilt
     // and pan angles (in radians) to point at the given target
-    bool calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan) const WARN_IF_UNUSED;
+    bool calc_angle_to_location(const Location &target, Vector3f& angles_to_target_rad, bool yaw_is_earth_frame) const WARN_IF_UNUSED;
 
     // calc_angle_to_roi_target - calculates the earth-frame roll, tilt
     // and pan angles (in radians) to point at the ROI-target (as set