Start using altitude getter - towards private alt in Location

libraries/AC_Avoidance/AC_Avoidance_Logging.cpp

@@ -26,10 +26,10 @@ void AP_OABendyRuler::Write_OABendyRuler(const uint8_t type, const bool active,
         margin      : margin,
         final_lat   : final_dest.lat,
         final_lng   : final_dest.lng,
-        final_alt   : got_final_dest ? final_alt : final_dest.alt,
+        final_alt   : got_final_dest ? final_alt : final_dest.get_alt_cm(),
         oa_lat      : oa_dest.lat,
         oa_lng      : oa_dest.lng,
-        oa_alt      : got_oa_dest ? oa_dest_alt : oa_dest.alt
+        oa_alt      : got_oa_dest ? oa_dest_alt : oa_dest.get_alt_cm()
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }

libraries/AC_WPNav/AC_WPNav_OA.cpp

@@ -212,7 +212,7 @@ bool AC_WPNav_OA::update_wpnav()
                     INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
                     return false;
                 }
-                Vector3p dest_NEU{dest_NE.x, dest_NE.y, (float)target_alt_loc.alt};
+                Vector3p dest_NEU{dest_NE.x, dest_NE.y, (float)target_alt_loc.get_alt_cm()};
 
                 // pass the desired position directly to the position controller
                 _pos_control.input_pos_xyz(dest_NEU, terr_offset, 1000.0);

libraries/AP_ADSB/AP_ADSB_Sagetech.cpp

@@ -94,12 +94,12 @@ void AP_ADSB_Sagetech::update()
             last_packet_Operating_ms == 0 || // send once at boot
             // send as data changes
             last_operating_squawk != _frontend.out_state.cfg.squawk_octal ||
-            abs(last_operating_alt - _frontend._my_loc.alt) > 1555 ||      // 1493cm == 49ft. The output resolution is 100ft per bit
+            abs(last_operating_alt - _frontend._my_loc.get_alt_cm()) > 1555 ||      // 1493cm == 49ft. The output resolution is 100ft per bit
             last_operating_rf_select != _frontend.out_state.cfg.rfSelect))
     {
         last_packet_Operating_ms = now_ms;
         last_operating_squawk = _frontend.out_state.cfg.squawk_octal;
-        last_operating_alt = _frontend._my_loc.alt;
+        last_operating_alt = _frontend._my_loc.get_alt_cm();
         last_operating_rf_select = _frontend.out_state.cfg.rfSelect;
         send_packet(MsgType_XP::Operating_Set);
 

libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp

@@ -67,7 +67,7 @@ void AP_ADSB_uAvionix_MAVLink::send_dynamic_out(const mavlink_channel_t chan) co
 
     const int32_t latitude = _frontend._my_loc.lat;
     const int32_t longitude = _frontend._my_loc.lng;
-    const int32_t altGNSS = _frontend._my_loc.alt * 10; // convert cm to mm
+    const int32_t altGNSS = _frontend._my_loc.get_alt_cm() * 10; // convert cm to mm
     const int16_t velVert = -1.0f * gps_velocity.z * 1E2; // convert m/s to cm/s
     const int16_t nsVog = gps_velocity.x * 1E2; // convert m/s to cm/s
     const int16_t ewVog = gps_velocity.y * 1E2; // convert m/s to cm/s

libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp

@@ -355,7 +355,7 @@ void AP_ADSB_uAvionix_UCP::send_GPS_Data()
     msg.utcTime_s = gps.time_epoch_usec() * 1E-6;
     msg.latitude_ddE7 = fix_is_good ? _frontend._my_loc.lat : INT32_MAX;
     msg.longitude_ddE7 = fix_is_good ? _frontend._my_loc.lng : INT32_MAX;
-    msg.altitudeGnss_mm = fix_is_good ? (_frontend._my_loc.alt * 10): INT32_MAX;
+    msg.altitudeGnss_mm = fix_is_good ? (_frontend._my_loc.get_alt_cm() * 10): INT32_MAX;
 
     // Protection Limits. FD or SBAS-based depending on state bits
     msg.HPL_mm = UINT32_MAX;

libraries/AP_AHRS/AP_AHRS_External.cpp

@@ -67,7 +67,7 @@ bool AP_AHRS_External::get_relative_position_NED_origin(Vector3f &vec) const
         extahrs.get_location(loc)) {
         const Vector2f diff2d = orgn.get_distance_NE(loc);
         vec = Vector3f(diff2d.x, diff2d.y,
-                       -(loc.alt - orgn.alt)*0.01);
+                       -(loc.get_alt_cm() - orgn.get_alt_cm())*0.01);
         return true;
     }
     return false;
@@ -95,7 +95,7 @@ bool AP_AHRS_External::get_relative_position_D_origin(float &posD) const
         !extahrs.get_location(loc)) {
         return false;
     }
-    posD = -(loc.alt - orgn.alt)*0.01;
+    posD = -(loc.get_alt_cm() - orgn.get_alt_cm())*0.01;
     return true;
 }
 

libraries/AP_AHRS/AP_AHRS_Logging.cpp

@@ -24,7 +24,7 @@ void AP_AHRS::Write_AHRS2() const
         roll  : (int16_t)(degrees(euler.x)*100),
         pitch : (int16_t)(degrees(euler.y)*100),
         yaw   : (uint16_t)(wrap_360_cd(degrees(euler.z)*100)),
-        alt   : loc.alt*1.0e-2f,
+        alt   : loc.get_alt_cm()*1.0e-2f,
         lat   : loc.lat,
         lng   : loc.lng,
         q1    : quat.q1,
@@ -73,7 +73,7 @@ void AP_AHRS::Write_Origin(LogOriginType origin_type, const Location &loc) const
         origin_type : (uint8_t)origin_type,
         latitude    : loc.lat,
         longitude   : loc.lng,
-        altitude    : loc.alt
+        altitude    : loc.get_alt_cm()
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
@@ -92,7 +92,7 @@ void AP_AHRS::Write_POS() const
         time_us        : AP_HAL::micros64(),
         lat            : loc.lat,
         lng            : loc.lng,
-        alt            : loc.alt*1.0e-2f,
+        alt            : loc.get_alt_cm()*1.0e-2f,
         rel_home_alt   : -home,
         rel_origin_alt : get_relative_position_D_origin(origin) ? -origin : AP::logger().quiet_nanf(),
     };

libraries/AP_AHRS/AP_AHRS_SIM.cpp

@@ -14,7 +14,7 @@ bool AP_AHRS_SIM::get_location(Location &loc) const
     loc = {};
     loc.lat = fdm.latitude * 1e7;
     loc.lng = fdm.longitude * 1e7;
-    loc.alt = fdm.altitude*100;
+    loc.set_alt_cm(fdm.altitude*100, Location::AltFrame::ABSOLUTE);
 
     return true;
 }
@@ -97,7 +97,7 @@ bool AP_AHRS_SIM::get_hagl(float &height) const
         return false;
     }
 
-    height = _sitl->state.altitude - AP::ahrs().get_home().alt*0.01f;
+    height = _sitl->state.altitude - AP::ahrs().get_home().get_alt_cm()*0.01f;
 
     return true;
 }
@@ -117,7 +117,7 @@ bool AP_AHRS_SIM::get_relative_position_NED_origin(Vector3f &vec) const
     const Vector2f diff2d = orgn.get_distance_NE(loc);
     const struct SITL::sitl_fdm &fdm = _sitl->state;
     vec = Vector3f(diff2d.x, diff2d.y,
-                   -(fdm.altitude - orgn.alt*0.01f));
+                   -(fdm.altitude - orgn.get_alt_cm()*0.01f));
 
     return true;
 }
@@ -144,7 +144,7 @@ bool AP_AHRS_SIM::get_relative_position_D_origin(float &posD) const
     if (!get_origin(orgn)) {
         return false;
     }
-    posD = -(fdm.altitude - orgn.alt*0.01f);
+    posD = -(fdm.altitude - orgn.get_alt_cm()*0.01f);
 
     return true;
 }

libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp

@@ -378,7 +378,7 @@ AP_AdvancedFailsafe::check_altlimit(void)
         // the barometer has been unresponsive for 5 seconds. See if we can switch to GPS
         if (_amsl_margin_gps != -1 &&
             gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
-            gps.location().alt*0.01f <= _amsl_limit - _amsl_margin_gps) {
+            gps.location().get_alt_cm()*0.01f <= _amsl_limit - _amsl_margin_gps) {
             // GPS based altitude OK
             return false;
         }

libraries/AP_Beacon/AP_Beacon.cpp

@@ -164,7 +164,7 @@ bool AP_Beacon::get_origin(Location &origin_loc) const
     origin_loc = {};
     origin_loc.lat = origin_lat * 1.0e7f;
     origin_loc.lng = origin_lon * 1.0e7f;
-    origin_loc.alt = origin_alt * 100;
+    origin_loc.set_alt_cm(origin_alt * 100, Location::AltFrame::ABSOLUTE);
 
     return true;
 }

libraries/AP_Beacon/AP_Beacon_SITL.cpp

@@ -69,13 +69,13 @@ void AP_Beacon_SITL::update(void)
     Location current_loc;
     current_loc.lat = sitl->state.latitude * 1.0e7f;
     current_loc.lng = sitl->state.longitude * 1.0e7f;
-    current_loc.alt = sitl->state.altitude * 1.0e2;
+    current_loc.set_alt_cm(sitl->state.altitude * 1.0e2, Location::AltFrame::ABSOLUTE);
 
     // where the beacon system origin is located
     Location beacon_origin;
     beacon_origin.lat = get_beacon_origin_lat() * 1.0e7f;
     beacon_origin.lng = get_beacon_origin_lon() * 1.0e7f;
-    beacon_origin.alt = get_beacon_origin_alt() * 1.0e2;
+    beacon_origin.set_alt_cm(get_beacon_origin_alt() * 1.0e2, Location::AltFrame::ABSOLUTE);
 
     // position of each beacon
     Location beacon_loc = beacon_origin;
@@ -101,8 +101,8 @@ void AP_Beacon_SITL::update(void)
     const Vector2f beac_diff = beacon_origin.get_distance_NE(beacon_loc);
     const Vector2f veh_diff = beacon_origin.get_distance_NE(current_loc);
 
-    Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (beacon_origin.alt - current_loc.alt)*1.0e-2f);
-    Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_loc.alt - beacon_origin.alt)*1.0e-2f);
+    Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (beacon_origin.get_alt_cm() - current_loc.get_alt_cm())*1.0e-2f);
+    Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_loc.get_alt_cm() - beacon_origin.get_alt_cm())*1.0e-2f);
     Vector3f beac_veh_offset = veh_pos3d - beac_pos3d;
 
     set_beacon_position(beacon_id, beac_pos3d);

libraries/AP_Camera/AP_Camera_Backend.cpp

@@ -318,10 +318,10 @@ void AP_Camera_Backend::send_camera_fov_status(mavlink_channel_t chan) const
         AP_HAL::millis(),
         loc.lat,
         loc.lng,
-        loc.alt * 10,
+        loc.get_alt_cm() * 10,
         poi_loc.lat,
         poi_loc.lng,
-        poi_loc.alt * 10,
+        poi_loc.get_alt_cm() * 10,
         quat_array,
         horizontal_fov() > 0 ? horizontal_fov() : NaNf,
         vertical_fov() > 0 ? vertical_fov() : NaNf

libraries/AP_Common/Location.h

@@ -42,6 +42,11 @@ class Location
     // - above-home and home is not set
     // - above-origin and origin is not set
     bool get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const WARN_IF_UNUSED;
+
+    // retrieve the altitude (in cm) in the stored frame.
+    int32_t get_alt_cm() const WARN_IF_UNUSED {
+        return alt;
+    }
     // same as get_alt_cm but in metres:
     bool get_alt_m(AltFrame desired_frame, float &ret_alt) const WARN_IF_UNUSED;
 

libraries/AP_DAL/AP_DAL.cpp

@@ -65,7 +65,7 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _home = ahrs.get_home();
     _RFRN.lat = _home.lat;
     _RFRN.lng = _home.lng;
-    _RFRN.alt = _home.alt;
+    _RFRN.alt = _home.get_alt_cm();
     _RFRN.EAS2TAS = ahrs.get_EAS2TAS();
     _RFRN.vehicle_class = (uint8_t)ahrs.get_vehicle_class();
     _RFRN.fly_forward = ahrs.get_fly_forward();

libraries/AP_DAL/AP_DAL.h

@@ -233,7 +233,7 @@ class AP_DAL {
         _RFRN = msg;
         _home.lat = msg.lat;
         _home.lng = msg.lng;
-        _home.alt = msg.alt;
+        _home.set_alt_cm(msg.alt, Location::AltFrame::ABSOLUTE);
     }
     void handle_message(const log_RFRF &msg, NavEKF2 &ekf2, NavEKF3 &ekf3);
 

libraries/AP_DAL/AP_DAL_Beacon.cpp

@@ -29,7 +29,7 @@ void AP_DAL_Beacon::start_frame()
         _RBCH.enabled = bcon->enabled();
         _RBCH.origin_lat = loc.lat;
         _RBCH.origin_lng = loc.lng;
-        _RBCH.origin_alt = loc.alt;
+        _RBCH.origin_alt = loc.get_alt_cm();
     }
     WRITE_REPLAY_BLOCK_IFCHANGED(RBCH, _RBCH, old);
     if (bcon == nullptr) {

libraries/AP_DAL/AP_DAL_Beacon.h

@@ -18,7 +18,7 @@ class AP_DAL_Beacon {
         loc.zero();
         loc.lat = _RBCH.origin_lat;
         loc.lng = _RBCH.origin_lng;
-        loc.alt = _RBCH.origin_alt;
+        loc.set_alt_cm(_RBCH.origin_alt, Location::AltFrame::ABSOLUTE);
         return _RBCH.get_origin_returncode;
     }
 

libraries/AP_DAL/AP_DAL_GPS.cpp

@@ -34,7 +34,7 @@ void AP_DAL_GPS::start_frame()
         RGPJ.last_message_time_ms = gps.last_message_time_ms(i);
         RGPJ.lat = loc.lat;
         RGPJ.lng = loc.lng;
-        RGPJ.alt = loc.alt;
+        RGPJ.alt = loc.get_alt_cm();
         RGPI.have_vertical_velocity = gps.have_vertical_velocity(i);
 
         RGPI.horizontal_accuracy_returncode = gps.horizontal_accuracy(i, RGPJ.hacc);
@@ -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);
     }
 }

libraries/AP_DAL/AP_DAL_GPS.h

@@ -130,7 +130,7 @@ class AP_DAL_GPS {
 
         tmp_location[msg.instance].lat = msg.lat;
         tmp_location[msg.instance].lng = msg.lng;
-        tmp_location[msg.instance].alt = msg.alt;
+        tmp_location[msg.instance].set_alt_cm(msg.alt, Location::AltFrame::ABSOLUTE);
     }
 
 private:

libraries/AP_DAL/LogStructure.h

@@ -41,23 +41,23 @@
     LOG_RBOH_MSG
 
 // @LoggerMessage: RFRH
-// @Description: Replay FRame Header
+// @Description: Replay Frame Header
 struct log_RFRH {
     uint64_t time_us;
     uint32_t time_flying_ms;
     uint8_t _end;
 };
 
 // @LoggerMessage: RFRF
-// @Description: Replay FRame data - Finished frame
+// @Description: Replay Frame data - Finished frame
 struct log_RFRF {
     uint8_t frame_types;
     uint8_t core_slow;
     uint8_t _end;
 };
 
 // @LoggerMessage: RFRN
-// @Description: Replay FRame - aNother frame header
+// @Description: Replay Frame - another frame header
 struct log_RFRN {
     int32_t lat;
     int32_t lng;

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];
     }

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

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);
 

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);

libraries/AP_GPS/AP_GPS_Blended.cpp

@@ -321,13 +321,13 @@ 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];
         }
     }
 
     // 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();

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;

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) {

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;
 

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;