From 23c18335a30118bdced6117ba4aa046ee918e258 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Thu, 6 Apr 2017 17:58:26 -0400
Subject: [PATCH] Sub: failsafe_xxx -> mainloop_failsafe_xxx

---
 ArduSub/Sub.h        | 6 +++---
 ArduSub/failsafe.cpp | 6 +++---
 ArduSub/motors.cpp   | 4 ++--
 ArduSub/system.cpp   | 4 ++--
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 9f88d45b54..39cca5480c 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -626,8 +626,8 @@ private:
     void failsafe_terrain_check();
     void failsafe_terrain_set_status(bool data_ok);
     void failsafe_terrain_on_event();
-    void failsafe_enable();
-    void failsafe_disable();
+    void mainloop_failsafe_enable();
+    void mainloop_failsafe_disable();
     void fence_check();
     void fence_send_mavlink_status(mavlink_channel_t chan);
     bool set_mode(control_mode_t mode, mode_reason_t reason);
@@ -769,7 +769,7 @@ private:
 
 public:
     void mavlink_delay_cb();
-    void failsafe_check();
+    void mainloop_failsafe_check();
 };
 
 extern const AP_HAL::HAL& hal;
diff --git a/ArduSub/failsafe.cpp b/ArduSub/failsafe.cpp
index 66f9329e63..89f38374cd 100644
--- a/ArduSub/failsafe.cpp
+++ b/ArduSub/failsafe.cpp
@@ -11,7 +11,7 @@ static uint32_t failsafe_last_timestamp;
 static bool in_failsafe;
 
 // Enable mainloop lockup failsafe
-void Sub::failsafe_enable()
+void Sub::mainloop_failsafe_enable()
 {
     failsafe_enabled = true;
     failsafe_last_timestamp = micros();
@@ -19,14 +19,14 @@ void Sub::failsafe_enable()
 
 // Disable mainloop lockup failsafe
 // Used when we know we are going to delay the mainloop significantly.
-void Sub::failsafe_disable()
+void Sub::mainloop_failsafe_disable()
 {
     failsafe_enabled = false;
 }
 
 // This function is called from the core timer interrupt at 1kHz.
 // This checks that the mainloop is running, and has not locked up.
-void Sub::failsafe_check()
+void Sub::mainloop_failsafe_check()
 {
     uint32_t tnow = AP_HAL::micros();
 
diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
index 868c37fe19..f2eb1a7079 100644
--- a/ArduSub/motors.cpp
+++ b/ArduSub/motors.cpp
@@ -28,7 +28,7 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
     }
 
     // disable cpu failsafe because initialising everything takes a while
-    failsafe_disable();
+    mainloop_failsafe_disable();
 
     // notify that arming will occur (we do this early to give plenty of warning)
     AP_Notify::flags.armed = true;
@@ -72,7 +72,7 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
     DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
 
     // reenable failsafe
-    failsafe_enable();
+    mainloop_failsafe_enable();
 
     // perf monitor ignores delay due to arming
     perf_ignore_this_loop();
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index c254d5cdaf..14b82824b6 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -15,7 +15,7 @@ static void mavlink_delay_cb_static()
 
 static void failsafe_check_static()
 {
-    sub.failsafe_check();
+    sub.mainloop_failsafe_check();
 }
 
 void Sub::init_ardupilot()
@@ -189,7 +189,7 @@ void Sub::init_ardupilot()
     serial_manager.set_blocking_writes_all(false);
 
     // enable CPU failsafe
-    failsafe_enable();
+    mainloop_failsafe_enable();
 
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
     ins.set_dataflash(&DataFlash);