Copter: explicitly set alt_target_from_climb_rate parameter

ArduCopter/control_althold.cpp

@@ -80,7 +80,7 @@ void Copter::althold_run()
         }
 
         // call position controller
-        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
+        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
         pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
         pos_control.update_z_controller();
     }

ArduCopter/control_autotune.cpp

@@ -325,7 +325,7 @@ void Copter::autotune_run()
         }
 
         // call position controller
-        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
+        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
         pos_control.update_z_controller();
     }
 }

ArduCopter/control_brake.cpp

@@ -34,9 +34,6 @@ bool Copter::brake_init(bool ignore_checks)
 // should be called at 100hz or more
 void Copter::brake_run()
 {
-    float target_yaw_rate = 0;
-    float target_climb_rate = 0;
-
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
@@ -59,11 +56,11 @@ void Copter::brake_run()
     wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
 
     // call attitude controller
-    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), 0.0f);
 
     // body-frame rate controller is run directly from 100hz loop
 
     // update altitude target and call position controller
-    pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
+    pos_control.set_alt_target_from_climb_rate(0.0f, G_Dt, false);
     pos_control.update_z_controller();
 }

ArduCopter/control_circle.cpp

@@ -78,6 +78,6 @@ void Copter::circle_run()
         target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
     }
     // update altitude target and call position controller
-    pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
+    pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
     pos_control.update_z_controller();
 }

ArduCopter/control_loiter.cpp

@@ -104,7 +104,7 @@ void Copter::loiter_run()
         }
 
         // update altitude target and call position controller
-        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
+        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
         pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
         pos_control.update_z_controller();
     }

ArduCopter/control_poshold.cpp

@@ -510,7 +510,7 @@ void Copter::poshold_run()
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
         // update altitude target and call position controller
-        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
+        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
         pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
         pos_control.update_z_controller();
     }

ArduCopter/control_sport.cpp

@@ -101,7 +101,7 @@ void Copter::sport_run()
         }
 
         // call position controller
-        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
+        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
         pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
         pos_control.update_z_controller();
     }