AP_GPS: use alt getter/setter instead of member

Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55 · Oct 19, 2024 · 7ff4ca9 · 7ff4ca9
1 parent d53bdb9
commit 7ff4ca9
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Showing 5 changed files with 5 additions and 5 deletions.
diff --git a/libraries/AP_GPS/AP_GPS_Blended.cpp b/libraries/AP_GPS/AP_GPS_Blended.cpp
@@ -321,7 +321,7 @@ void AP_GPS_Blended::calc_state(void)
     for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
         if (_blend_weights[i] > 0.0f && i != best_index) {
             blended_NE_offset_m += state.location.get_distance_NE(gps.state[i].location) * _blend_weights[i];
-            blended_alt_offset_cm += (float)(gps.state[i].location.alt - state.location.alt) * _blend_weights[i];
+            blended_alt_offset_cm += (float)(gps.state[i].location.get_alt_cm() - state.location.get_alt_cm()) * _blend_weights[i];
         }
     }
 

diff --git a/libraries/AP_GPS/AP_GPS_ExternalAHRS.cpp b/libraries/AP_GPS/AP_GPS_ExternalAHRS.cpp
@@ -51,7 +51,7 @@ void AP_GPS_ExternalAHRS::handle_external(const AP_ExternalAHRS::gps_data_messag
     Location loc = {};
     loc.lat = pkt.latitude;
     loc.lng = pkt.longitude;
-    loc.alt = pkt.msl_altitude;
+    loc.set_alt_cm(pkt.msl_altitude, Location::AltFrame::ABSOLUTE);
 
     state.location = loc;
     state.hdop = pkt.hdop;

diff --git a/libraries/AP_GPS/AP_GPS_MAV.cpp b/libraries/AP_GPS/AP_GPS_MAV.cpp
@@ -70,7 +70,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
             loc.lat = packet.lat;
             loc.lng = packet.lon;
             if (have_alt) {
-                loc.alt = packet.alt * 100; // convert to centimeters
+                loc.set_alt_cm(packet.alt * 100, Location::AltFrame::ABSOLUTE);
             }
             state.location = loc;
 

diff --git a/libraries/AP_GPS/AP_GPS_MSP.cpp b/libraries/AP_GPS/AP_GPS_MSP.cpp
@@ -47,7 +47,7 @@ void AP_GPS_MSP::handle_msp(const MSP::msp_gps_data_message_t &pkt)
     Location loc = {};
     loc.lat = pkt.latitude;
     loc.lng = pkt.longitude;
-    loc.alt = pkt.msl_altitude;
+    loc.set_alt_cm(pkt.msl_altitude, Location::AltFrame::ABSOLUTE);
 
     state.location = loc;
     state.hdop = pkt.hdop;

diff --git a/libraries/AP_GPS/AP_GPS_SBP.cpp b/libraries/AP_GPS/AP_GPS_SBP.cpp
@@ -281,7 +281,7 @@ AP_GPS_SBP::_attempt_state_update()
 
         state.location.lat      = (int32_t) (pos_llh->lat * (double)1e7);
         state.location.lng      = (int32_t) (pos_llh->lon * (double)1e7);
-        state.location.alt      = (int32_t) (pos_llh->height * 100);
+        state.location.set_alt_cm((int32_t) (pos_llh->height * 100), Location::AltFrame::ABSOLUTE);
         state.num_sats          = pos_llh->n_sats;
 
         if (pos_llh->flags == 0) {