Rover: fixes for new AP_Math location API

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

APMrover2/APMrover2.pde

@@ -808,7 +808,7 @@ static void update_GPS(void)
         }
     }
 
-    have_position = ahrs.get_projected_position(&current_loc);
+    have_position = ahrs.get_projected_position(current_loc);
 
 	if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
 		gps_fix_count++;

APMrover2/commands.pde

@@ -121,9 +121,9 @@ static void set_next_WP(const struct Location *wp)
     }
 
 	// this is handy for the groundstation
-	wp_totalDistance 	= get_distance(&current_loc, &next_WP);
+	wp_totalDistance 	= get_distance(current_loc, next_WP);
 	wp_distance 		= wp_totalDistance;
-	target_bearing 		= get_bearing_cd(&current_loc, &next_WP);
+	target_bearing 		= get_bearing_cd(current_loc, next_WP);
 	nav_bearing 		= target_bearing;
 
 	// set a new crosstrack bearing
@@ -142,9 +142,9 @@ static void set_guided_WP(void)
 	next_WP = guided_WP;
 
 	// this is handy for the groundstation
-	wp_totalDistance 	= get_distance(&current_loc, &next_WP);
+	wp_totalDistance 	= get_distance(current_loc, next_WP);
 	wp_distance 		= wp_totalDistance;
-	target_bearing 		= get_bearing_cd(&current_loc, &next_WP);
+	target_bearing 		= get_bearing_cd(current_loc, next_WP);
 
 	// set a new crosstrack bearing
 	// ----------------------------

APMrover2/commands_logic.pde

@@ -216,7 +216,7 @@ static bool verify_nav_wp()
     if ((wp_distance > 0) && (wp_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;
     }
 
@@ -224,7 +224,7 @@ 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;
     }
 
@@ -242,7 +242,7 @@ static bool verify_RTL()
     // have we gone past the waypoint?
     if (location_passed_point(current_loc, prev_WP, next_WP)) {
         gcs_send_text_fmt(PSTR("Reached Home dist %um"),
-                          (unsigned)get_distance(&current_loc, &next_WP));
+                          (unsigned)get_distance(current_loc, next_WP));
         return true;
     }
 

APMrover2/navigation.pde

@@ -17,7 +17,7 @@ static void navigate()
 
 	// waypoint distance from rover
 	// ----------------------------
-	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("<navigate> WP error - distance < 0"));
@@ -26,7 +26,7 @@ static void navigate()
 
 	// target_bearing is where we should be heading
 	// --------------------------------------------
-	target_bearing 	= get_bearing_cd(&current_loc, &next_WP);
+	target_bearing 	= get_bearing_cd(current_loc, next_WP);
 
 	// nav_bearing will includes xtrac correction
 	// ------------------------------------------
@@ -61,7 +61,7 @@ static void update_crosstrack(void)
 
 static void reset_crosstrack()
 {
-	crosstrack_bearing 	= get_bearing_cd(&prev_WP, &next_WP);	// Used for track following
+	crosstrack_bearing 	= get_bearing_cd(prev_WP, next_WP);	// Used for track following
 }
 
 void reached_waypoint()