Rover: fixed build

APMrover2/APMrover2.pde

@@ -827,7 +827,7 @@ static void update_GPS_50Hz(void)
 
 static void update_GPS_10Hz(void)
 {        
-    have_position = ahrs.get_projected_position(current_loc);
+    have_position = ahrs.get_position(current_loc);
 
 	if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
 		gps_fix_count++;

APMrover2/Log.pde

@@ -169,8 +169,6 @@ struct PACKED log_Performance {
     uint32_t loop_time;
     uint16_t main_loop_count;
     uint32_t g_dt_max;
-    uint8_t  renorm_count;
-    uint8_t  renorm_blowup;
     int16_t  gyro_drift_x;
     int16_t  gyro_drift_y;
     int16_t  gyro_drift_z;
@@ -187,8 +185,6 @@ static void Log_Write_Performance()
         loop_time       : millis()- perf_mon_timer,
         main_loop_count : mainLoop_count,
         g_dt_max        : G_Dt_max,
-        renorm_count    : ahrs.renorm_range_count,
-        renorm_blowup   : ahrs.renorm_blowup_count,
         gyro_drift_x    : (int16_t)(ahrs.get_gyro_drift().x * 1000),
         gyro_drift_y    : (int16_t)(ahrs.get_gyro_drift().y * 1000),
         gyro_drift_z    : (int16_t)(ahrs.get_gyro_drift().z * 1000),
@@ -528,7 +524,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
     { LOG_ATTITUDE_MSG, sizeof(log_Attitude),       
       "ATT", "IccC",        "TimeMS,Roll,Pitch,Yaw" },
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
-      "PM",  "IIHIBBhhhBH", "TimeMS,LTime,MLC,gDt,RNCnt,RNBl,GDx,GDy,GDz,I2CErr,INSErr" },
+      "PM",  "IIHIhhhBH", "TimeMS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
     { LOG_CMD_MSG, sizeof(log_Cmd),                 
       "CMD", "IBBBBBeLL",   "TimeMS,CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
     { LOG_CAMERA_MSG, sizeof(log_Camera),                 

APMrover2/system.pde

@@ -397,8 +397,6 @@ static void update_notify()
 static void resetPerfData(void) {
 	mainLoop_count 			= 0;
 	G_Dt_max 				= 0;
-	ahrs.renorm_range_count 	= 0;
-	ahrs.renorm_blowup_count = 0;
 	gps_fix_count 			= 0;
 	perf_mon_timer 			= millis();
 }