Copter: current_loc to Location class

ArduCopter/Copter.h

@@ -34,6 +34,7 @@
 
 // Common dependencies
 #include <AP_Common/AP_Common.h>
+#include <AP_Common/Location.h>
 #include <AP_Menu/AP_Menu.h>
 #include <AP_Param/AP_Param.h>
 #include <StorageManager/StorageManager.h>
@@ -407,7 +408,7 @@ private:
 
     // 3D Location vectors
     // Current location of the copter (altitude is relative to home)
-    struct Location current_loc;
+    Location_Class current_loc;
 
     // Navigation Yaw control
     // auto flight mode's yaw mode

ArduCopter/system.cpp

@@ -200,7 +200,12 @@ void Copter::init_ardupilot()
     ahrs.set_optflow(&optflow);
 #endif
 
-    // initialise position controllers
+    // init Location class
+    Location_Class::set_ahrs(&ahrs);
+#if AP_TERRAIN_AVAILABLE
+    Location_Class::set_terrain(&terrain);
+#endif
+
     pos_control.set_dt(MAIN_LOOP_SECONDS);
 
     // init the optical flow sensor