Plane: replace location_offset() and get_distance() function calls with Location object member function calls

This allows removing duplicated code

ArduPlane/ArduPlane.cpp

@@ -826,7 +826,7 @@ void Plane::update_alt()
 
         float distance_beyond_land_wp = 0;
         if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
-            distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
+            distance_beyond_land_wp = current_loc.get_distance(next_WP_loc);
         }
 
         bool soaring_active = false;

ArduPlane/altitude.cpp

@@ -65,7 +65,7 @@ void Plane::setup_glide_slope(void)
 {
     // establish the distance we are travelling to the next waypoint,
     // for calculating out rate of change of altitude
-    auto_state.wp_distance = get_distance(current_loc, next_WP_loc);
+    auto_state.wp_distance = current_loc.get_distance(next_WP_loc);
     auto_state.wp_proportion = location_path_proportion(current_loc, 
                                                         prev_WP_loc, next_WP_loc);
     SpdHgt_Controller->set_path_proportion(auto_state.wp_proportion);

ArduPlane/avoidance_adsb.cpp

@@ -194,7 +194,7 @@ bool AP_Avoidance_Plane::handle_avoidance_horizontal(const AP_Avoidance::Obstacl
         velocity_neu *= 10000;
 
         // set target
-        location_offset(plane.guided_WP_loc, velocity_neu.x, velocity_neu.y);
+        plane.guided_WP_loc.offset(velocity_neu.x, velocity_neu.y);
         return true;
     }
 

ArduPlane/commands_logic.cpp

@@ -582,7 +582,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
     uint8_t cmd_acceptance_distance = LOWBYTE(cmd.p1); // radius in meters to accept reaching the wp
 
     if (cmd_passby > 0) {
-        float dist = get_distance(prev_WP_loc, flex_next_WP_loc);
+        float dist = prev_WP_loc.get_distance(flex_next_WP_loc);
 
         if (!is_zero(dist)) {
             float factor = (dist + cmd_passby) / dist;
@@ -624,7 +624,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
     if (auto_state.wp_distance <= acceptance_distance_m) {
         gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%i dist %um",
                           (unsigned)mission.get_current_nav_cmd().index,
-                          (unsigned)get_distance(current_loc, flex_next_WP_loc));
+                          (unsigned)current_loc.get_distance(flex_next_WP_loc));
         return true;
 	}
 
@@ -632,7 +632,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
     if (location_passed_point(current_loc, prev_WP_loc, flex_next_WP_loc)) {
         gcs().send_text(MAV_SEVERITY_INFO, "Passed waypoint #%i dist %um",
                           (unsigned)mission.get_current_nav_cmd().index,
-                          (unsigned)get_distance(current_loc, flex_next_WP_loc));
+                          (unsigned)current_loc.get_distance(flex_next_WP_loc));
         return true;
     }
 
@@ -770,7 +770,7 @@ bool Plane::verify_continue_and_change_alt()
     }
     else {
         // Is the next_WP less than 200 m away?
-        if (get_distance(current_loc, next_WP_loc) < 200.0f) {
+        if (current_loc.get_distance(next_WP_loc) < 200.0f) {
             //push another 300 m down the line
             int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
             location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.0f);
@@ -976,8 +976,8 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
 
                 // validate that the vehicle is at least the expected distance away from the loiter point
                 // require an angle total of at least 2 centidegrees, due to special casing of 1 centidegree
-                if (((fabsf(get_distance(cmd.content.location, current_loc) - radius) > 5.0f) &&
-                      (get_distance(cmd.content.location, current_loc) < radius)) ||
+                if (((fabsf(cmd.content.location.get_distance(current_loc) - radius) > 5.0f) &&
+                      (cmd.content.location.get_distance(current_loc) < radius)) ||
                     (loiter.sum_cd < 2)) {
                     nav_controller->update_loiter(cmd.content.location, radius, direction);
                     break;
@@ -1055,7 +1055,7 @@ bool Plane::verify_loiter_heading(bool init)
         return true;
     }
 
-    if (get_distance(next_WP_loc, next_nav_cmd.content.location) < abs(aparm.loiter_radius)) {
+    if (next_WP_loc.get_distance(next_nav_cmd.content.location) < abs(aparm.loiter_radius)) {
         /* Whenever next waypoint is within the loiter radius,
            maintaining loiter would prevent us from ever pointing toward the next waypoint.
            Hence break out of loiter immediately

ArduPlane/is_flying.cpp

@@ -223,7 +223,7 @@ void Plane::crash_detection_update(void)
 
                 // did we "crash" within 75m of the landing location? Probably just a hard landing
                 crashed_near_land_waypoint =
-                        get_distance(current_loc, mission.get_current_nav_cmd().content.location) < 75;
+                        current_loc.get_distance(mission.get_current_nav_cmd().content.location) < 75;
 
                 // trigger hard landing event right away, or never again. This inhibits a false hard landing
                 // event when, for example, a minute after a good landing you pick the plane up and

ArduPlane/navigation.cpp

@@ -86,7 +86,7 @@ void Plane::navigate()
 
     // waypoint distance from plane
     // ----------------------------
-    auto_state.wp_distance = get_distance(current_loc, next_WP_loc);
+    auto_state.wp_distance = current_loc.get_distance(next_WP_loc);
     auto_state.wp_proportion = location_path_proportion(current_loc, 
                                                         prev_WP_loc, next_WP_loc);
     SpdHgt_Controller->set_path_proportion(auto_state.wp_proportion);
@@ -225,7 +225,7 @@ void Plane::update_loiter(uint16_t radius)
     } else if ((loiter.start_time_ms == 0 &&
                 (control_mode == AUTO || control_mode == GUIDED) &&
                 auto_state.crosstrack &&
-                get_distance(current_loc, next_WP_loc) > radius*3) ||
+                current_loc.get_distance(next_WP_loc) > radius*3) ||
                (control_mode == RTL && quadplane.available() && quadplane.rtl_mode == 1)) {
         /*
           if never reached loiter point and using crosstrack and somewhat far away from loiter point
@@ -285,7 +285,7 @@ void Plane::update_cruise()
         // always look 1km ahead
         location_update(next_WP_loc,
                         cruise_state.locked_heading_cd*0.01f, 
-                        get_distance(prev_WP_loc, current_loc) + 1000);
+                        prev_WP_loc.get_distance(current_loc) + 1000);
         nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);
     }
 }