struct Location get_origin() const
const struct Location & get_home(void) const
AP_InertialNav_NavEKF inertial_nav
float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination)
float pv_distance_to_home_cm(const Vector3f &destination)
float pv_alt_above_home(float alt_above_origin_cm)
float pv_alt_above_origin(float alt_above_home_cm)
Vector3f pv_location_to_vector(const Location &loc)