APMrover2: use past_interval_finish_line and line_path_proportion from Location

APMrover2/mode_auto.cpp

@@ -44,7 +44,7 @@ void ModeAuto::update()
             _distance_to_destination = rover.current_loc.get_distance(_destination);
             const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
             // check if we've reached the destination
-            if (!_reached_destination && (near_wp || location_passed_point(rover.current_loc, _origin, _destination))) {
+            if (!_reached_destination && (near_wp || rover.current_loc.past_interval_finish_line(_origin, _destination))) {
                 // trigger reached
                 _reached_destination = true;
             }

APMrover2/mode_guided.cpp

@@ -21,7 +21,7 @@ void ModeGuided::update()
             _distance_to_destination = rover.current_loc.get_distance(_destination);
             const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
             // check if we've reached the destination
-            if (!_reached_destination && (near_wp || location_passed_point(rover.current_loc, _origin, _destination))) {
+            if (!_reached_destination && (near_wp || rover.current_loc.past_interval_finish_line(_origin, _destination))) {
                 _reached_destination = true;
                 rover.gcs().send_mission_item_reached_message(0);
             }

APMrover2/mode_rtl.cpp

@@ -28,7 +28,7 @@ void ModeRTL::update()
     _distance_to_destination = rover.current_loc.get_distance(_destination);
     const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
     // check if we've reached the destination
-    if (!_reached_destination && (near_wp || location_passed_point(rover.current_loc, _origin, _destination))) {
+    if (!_reached_destination && (near_wp || rover.current_loc.past_interval_finish_line(_origin, _destination))) {
         // trigger reached
         _reached_destination = true;
         gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");

APMrover2/mode_smart_rtl.cpp

@@ -60,7 +60,7 @@ void ModeSmartRTL::update()
             }
             // check if we've reached the next point
             _distance_to_destination = rover.current_loc.get_distance(_destination);
-            if (_distance_to_destination <= rover.g.waypoint_radius || location_passed_point(rover.current_loc, _origin, _destination)) {
+            if (_distance_to_destination <= rover.g.waypoint_radius || rover.current_loc.past_interval_finish_line(_origin, _destination)) {
                 _load_point = true;
             }
             // continue driving towards destination