Copter: remove pv_ functions that duplicate Location functions

ArduCopter/Copter.h

@@ -807,10 +807,8 @@ private:
     void convert_lgr_parameters(void);
 
     // position_vector.cpp
-    Vector3f pv_location_to_vector(const Location& loc);
     float pv_alt_above_origin(float alt_above_home_cm);
     float pv_alt_above_home(float alt_above_origin_cm);
-    float pv_distance_to_home_cm(const Vector3f &destination);
 
     // precision_landing.cpp
     void init_precland();

ArduCopter/GCS_Mavlink.cpp

@@ -1197,14 +1197,11 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
                 case MAV_FRAME_GLOBAL:
                 case MAV_FRAME_GLOBAL_INT:
                 default:
-                    // pv_location_to_vector does not support absolute altitudes.
-                    // Convert the absolute altitude to a home-relative altitude before calling pv_location_to_vector
-                    loc.alt -= copter.ahrs.get_home().alt;
-                    loc.relative_alt = true;
-                    loc.terrain_alt = false;
                     break;
             }
-            pos_neu_cm = copter.pv_location_to_vector(loc);
+            if (!loc.get_vector_from_origin_NEU(pos_neu_cm)) {
+                break;
+            }
         }
 
         // prepare yaw

ArduCopter/autoyaw.cpp

@@ -146,8 +146,9 @@ void Copter::Mode::AutoYaw::set_roi(const Location &roi_location)
 #if MOUNT == ENABLED
         // check if mount type requires us to rotate the quad
         if (!copter.camera_mount.has_pan_control()) {
-            roi = copter.pv_location_to_vector(roi_location);
-            auto_yaw.set_mode(AUTO_YAW_ROI);
+            if (roi_location.get_vector_from_origin_NEU(roi)) {
+                auto_yaw.set_mode(AUTO_YAW_ROI);
+            }
         }
         // send the command to the camera mount
         copter.camera_mount.set_roi_target(roi_location);
@@ -160,8 +161,9 @@ void Copter::Mode::AutoYaw::set_roi(const Location &roi_location)
         //      4: point at a target given a target id (can't be implemented)
 #else
         // if we have no camera mount aim the quad at the location
-        roi = copter.pv_location_to_vector(roi_location);
-        auto_yaw.set_mode(AUTO_YAW_ROI);
+        if (roi_location.get_vector_from_origin_NEU(roi)) {
+            auto_yaw.set_mode(AUTO_YAW_ROI);
+        }
 #endif  // MOUNT == ENABLED
     }
 }

ArduCopter/mode_auto.cpp

@@ -1787,9 +1787,12 @@ bool Copter::ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
     // check if we've reached the edge
     if (mode() == Auto_CircleMoveToEdge) {
         if (copter.wp_nav->reached_wp_destination()) {
+            Vector3f circle_center;
+            if (!cmd.content.location.get_vector_from_origin_NEU(circle_center)) {
+                // should never happen
+                return true;
+            }
             const Vector3f curr_pos = copter.inertial_nav.get_position();
-            Vector3f circle_center = copter.pv_location_to_vector(cmd.content.location);
-
             // set target altitude if not provided
             if (is_zero(circle_center.z)) {
                 circle_center.z = curr_pos.z;

ArduCopter/position_vector.cpp

@@ -7,13 +7,6 @@
 //    .y = longitude from home in cm
 //    .z = altitude above home in cm
 
-// pv_location_to_vector - convert lat/lon coordinates to a position vector
-Vector3f Copter::pv_location_to_vector(const Location& loc)
-{
-    const struct Location &origin = inertial_nav.get_origin();
-    float alt_above_origin = pv_alt_above_origin(loc.alt);  // convert alt-relative-to-home to alt-relative-to-origin
-    return Vector3f((loc.lat-origin.lat) * LATLON_TO_CM, (loc.lng-origin.lng) * LATLON_TO_CM * scaleLongDown, alt_above_origin);
-}
 
 // pv_alt_above_origin - convert altitude above home to altitude above EKF origin
 float Copter::pv_alt_above_origin(float alt_above_home_cm)
@@ -28,10 +21,3 @@ float Copter::pv_alt_above_home(float alt_above_origin_cm)
     const struct Location &origin = inertial_nav.get_origin();
     return alt_above_origin_cm + (origin.alt - ahrs.get_home().alt);
 }
-
-// returns distance between a destination and home in cm
-float Copter::pv_distance_to_home_cm(const Vector3f &destination)
-{
-    Vector3f home = pv_location_to_vector(ahrs.get_home());
-    return get_horizontal_distance_cm(home, destination);
-}