use alt getter/setter instead of member

Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55 · Oct 20, 2024 · 79ca8a0 · 79ca8a0
1 parent 7ff4ca9
commit 79ca8a0
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Showing 9 changed files with 12 additions and 12 deletions.
diff --git a/libraries/AP_DAL/AP_DAL_GPS.cpp b/libraries/AP_DAL/AP_DAL_GPS.cpp
@@ -52,6 +52,6 @@ void AP_DAL_GPS::start_frame()
 
         tmp_location[i].lat = RGPJ.lat;
         tmp_location[i].lng = RGPJ.lng;
-        tmp_location[i].alt = RGPJ.alt;
+        tmp_location[i].set_alt_cm(RGPJ.alt, Location::AltFrame::ABSOLUTE);
     }
 }
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -1092,8 +1092,8 @@ void AP_DroneCAN::gnss_send_fix()
     }
     pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
     pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
-    pkt.height_ellipsoid_mm = loc.alt * 10;
-    pkt.height_msl_mm = loc.alt * 10;
+    pkt.height_ellipsoid_mm = loc.get_alt_cm() * 10;
+    pkt.height_msl_mm = loc.get_alt_cm() * 10;
     for (uint8_t i=0; i<3; i++) {
         pkt.ned_velocity[i] = vel[i];
     }

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -355,7 +355,8 @@ void AP_ExternalAHRS::update(void)
                                     AP_HAL::micros64(),
                                     degrees(roll), degrees(pitch), degrees(yaw),
                                     state.velocity.x, state.velocity.y, state.velocity.z,
-                                    state.location.lat, state.location.lng, state.location.alt*0.01,
+                                    state.location.lat, state.location.lng,
+                                    state.location.get_alt_cm()*0.01,
                                     filterStatus.value);
     }
 #endif  // HAL_LOGGING_ENABLED

diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_Backend.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_Backend.cpp
@@ -77,7 +77,6 @@ void AP_Frsky_Backend::calc_gps_position(void)
     AP_AHRS &_ahrs = AP::ahrs();
 
     Location loc;
-
     if (_ahrs.get_location(loc)) {
         float lat = format_gps(fabsf(loc.lat/10000000.0f));
         _SPort_data.latdddmm = lat;
@@ -89,7 +88,7 @@ void AP_Frsky_Backend::calc_gps_position(void)
         _SPort_data.lonmmmm = (lon - _SPort_data.londddmm) * 10000;
         _SPort_data.lon_ew = (loc.lng < 0) ? 'W' : 'E';
 
-        float alt = loc.alt * 0.01f;
+        float alt = loc.get_alt_cm() * 0.01f;
         _SPort_data.alt_gps_meters = float_to_uint16(alt);
         _SPort_data.alt_gps_cm = float_to_uint16((alt - _SPort_data.alt_gps_meters) * 100);
 

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
@@ -1376,7 +1376,7 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
     float undulation = 0.0;
     int32_t height_elipsoid_mm = 0;
     if (get_undulation(0, undulation)) {
-        height_elipsoid_mm = loc.alt*10 - undulation*1000;
+        height_elipsoid_mm = loc.get_alt_cm()*10 - undulation*1000;
     }
     horizontal_accuracy(0, hacc);
     vertical_accuracy(0, vacc);

diff --git a/libraries/AP_GPS/AP_GPS_Blended.cpp b/libraries/AP_GPS/AP_GPS_Blended.cpp
@@ -327,7 +327,7 @@ void AP_GPS_Blended::calc_state(void)
 
     // Add the sum of weighted offsets to the reference location to obtain the blended location
     state.location.offset(blended_NE_offset_m.x, blended_NE_offset_m.y);
-    state.location.alt += (int)blended_alt_offset_cm;
+    state.location.set_alt_cm(state.location.get_alt_cm() + (int)blended_alt_offset_cm, Location::AltFrame::ABSOLUTE);
 
     // Calculate ground speed and course from blended velocity vector
     state.ground_speed = state.velocity.xy().length();

diff --git a/libraries/AP_GPS/AP_GPS_GSOF.cpp b/libraries/AP_GPS/AP_GPS_GSOF.cpp
@@ -194,7 +194,7 @@ AP_GPS_GSOF::pack_state_data()
 
     state.location.lat = (int32_t)(RAD_TO_DEG_DOUBLE * position.latitude_rad * (double)1e7);
     state.location.lng = (int32_t)(RAD_TO_DEG_DOUBLE * position.longitude_rad * (double)1e7);
-    state.location.alt = (int32_t)(position.altitude * 100);
+    state.location.set_alt_cm((int32_t)(position.altitude * 100), Location::AltFrame::ABSOLUTE);
     state.last_gps_time_ms = AP_HAL::millis();
 
     if ((vel.velocity_flags & 1) == 1) {

diff --git a/libraries/AP_GPS/AP_GPS_SBP2.cpp b/libraries/AP_GPS/AP_GPS_SBP2.cpp
@@ -335,7 +335,7 @@ AP_GPS_SBP2::_attempt_state_update()
         //
         state.location.lat      = (int32_t) (last_pos_llh.lat * (double)1e7);
         state.location.lng      = (int32_t) (last_pos_llh.lon * (double)1e7);
-        state.location.alt      = (int32_t) (last_pos_llh.height * 100);
+        state.location.set_alt_cm((int32_t) (last_pos_llh.height * 100), Location::AltFrame::ABSOLUTE);
         state.num_sats          = last_pos_llh.n_sats;
 
         switch (last_pos_llh.flags.fix_mode) {

diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
@@ -459,9 +459,9 @@ void AP_GPS_Backend::set_alt_amsl_cm(AP_GPS::GPS_State &_state, int32_t alt_amsl
     if (option_set(AP_GPS::HeightEllipsoid) && _state.have_undulation) {
         // user has asked ArduPilot to use ellipsoid height in the
         // canonical height for mission and navigation
-        _state.location.alt = alt_amsl_cm - _state.undulation*100;
+        _state.location.set_alt_cm(alt_amsl_cm - _state.undulation*100, Location::AltFrame::ABSOLUTE);
     } else {
-        _state.location.alt = alt_amsl_cm;
+        _state.location.set_alt_cm(alt_amsl_cm, Location::AltFrame::ABSOLUTE);
     }
 }