Plane: fixes for updated AP_Math and AHRS APIs

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>

ArduPlane/ArduPlane.pde

@@ -987,7 +987,7 @@ static void update_GPS(void)
     }
 
     // get position from AHRS
-    have_position = ahrs.get_position(&current_loc);
+    have_position = ahrs.get_position(current_loc);
 
     if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
         g_gps->new_data = false;

ArduPlane/commands_logic.pde

@@ -393,7 +393,7 @@ static bool verify_nav_wp()
     if (wp_distance <= nav_controller->turn_distance(g.waypoint_radius)) {
         gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
                           (unsigned)nav_command_index,
-                          (unsigned)get_distance(&current_loc, &next_WP));
+                          (unsigned)get_distance(current_loc, next_WP));
         return true;
 	}
 
@@ -401,7 +401,7 @@ static bool verify_nav_wp()
     if (location_passed_point(current_loc, prev_WP, next_WP)) {
         gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"),
                           (unsigned)nav_command_index,
-                          (unsigned)get_distance(&current_loc, &next_WP));
+                          (unsigned)get_distance(current_loc, next_WP));
         return true;
     }
 

ArduPlane/geofence.pde

@@ -213,7 +213,7 @@ static void geofence_check(bool altitude_check_only)
     } else if (geofence_check_maxalt()) {
         outside = true;
         breach_type = FENCE_BREACH_MAXALT;
-    } else if (!altitude_check_only && ahrs.get_position(&loc)) {
+    } else if (!altitude_check_only && ahrs.get_position(loc)) {
         Vector2l location;
         location.x = loc.lat;
         location.y = loc.lng;

ArduPlane/navigation.pde

@@ -60,7 +60,7 @@ static void navigate()
 
     // waypoint distance from plane
     // ----------------------------
-    wp_distance = get_distance(&current_loc, &next_WP);
+    wp_distance = get_distance(current_loc, next_WP);
 
     if (wp_distance < 0) {
         gcs_send_text_P(SEVERITY_HIGH,PSTR("WP error - distance < 0"));
@@ -186,9 +186,9 @@ static void update_cruise()
     if (cruise_state.locked_heading) {
         next_WP = prev_WP;
         // always look 1km ahead
-        location_update(&next_WP, 
+        location_update(next_WP, 
                         cruise_state.locked_heading_cd*0.01f, 
-                        get_distance(&prev_WP, &current_loc) + 1000);
+                        get_distance(prev_WP, current_loc) + 1000);
         nav_controller->update_waypoint(prev_WP, next_WP);
     }
 }
@@ -233,7 +233,7 @@ static void setup_glide_slope(void)
 {
     // establish the distance we are travelling to the next waypoint,
     // for calculating out rate of change of altitude
-    wp_totalDistance        = get_distance(&current_loc, &next_WP);
+    wp_totalDistance        = get_distance(current_loc, next_WP);
     wp_distance             = wp_totalDistance;
 
     /*