Sub: AP_WaterDetector -> AP_LeakDetector

ArduSub/ArduSub.cpp

@@ -460,7 +460,7 @@ void Sub::dataflash_periodic(void)
 // three_hz_loop - 3.3hz loop
 void Sub::three_hz_loop()
 {
-	set_leak_status(water_detector.update());
+	set_leak_status(leak_detector.update());
 
 	failsafe_internal_pressure_check();
 

ArduSub/Parameters.cpp

@@ -916,10 +916,10 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_GPS/AP_GPS.cpp
     GOBJECT(gps, "GPS_", AP_GPS),
 
-    // Water driver
-    // @Group: WD_
-    // @Path: ../libraries/AP_WaterDetector/AP_WaterDetector.cpp
-	GOBJECT(water_detector, "WD_", AP_WaterDetector),
+    // Leak detector
+    // @Group: LEAK_
+    // @Path: ../libraries/AP_LeakDetector/AP_LeakDetector.cpp
+	GOBJECT(leak_detector, "LEAK", AP_LeakDetector),
 
     // @Group: SCHED_
     // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp

ArduSub/Parameters.h

@@ -390,7 +390,7 @@ public:
 		k_param_pid_crosstrack_control,
 		k_param_pid_heading_control,
 		
-		k_param_water_detector, // water detector object
+		k_param_leak_detector, // leak detector object
 		k_param_failsafe_leak, // leak failsafe behavior
 		k_param_failsafe_pressure, // internal pressure failsafe behavior
 		k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered

ArduSub/Sub.h

@@ -92,9 +92,7 @@
 #include <AP_RPM/AP_RPM.h>
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AP_JSButton/AP_JSButton.h>   // Joystick/gamepad button function assignment
-#include <AP_WaterDetector/AP_WaterDetector.h> // Water detector
-
-// Configuration
+#include "../libraries/AP_LeakDetector/AP_LeakDetector.h" // Leak detector
 #include "defines.h"
 #include "config.h"
 
@@ -171,7 +169,7 @@ private:
 
     AP_GPS gps;
 
-    AP_WaterDetector water_detector;
+    AP_LeakDetector leak_detector;
 
     // flight modes convenience array
     AP_Int8 *flight_modes;

ArduSub/make.inc

@@ -61,4 +61,4 @@ LIBRARIES += AP_IRLock
 LIBRARIES += AC_InputManager
 LIBRARIES += AP_ADSB
 LIBRARIES += AP_JSButton
-LIBRARIES += AP_WaterDetector
+LIBRARIES += AP_LeakDetector

ArduSub/wscript

@@ -23,6 +23,7 @@ def build(bld):
             'AP_InertialNav',
             'AP_JSButton',
             'AP_LandingGear',
+            'AP_LeakDetector',
             'AP_Menu',
             'AP_Motors',
             'AP_Mount',
@@ -32,7 +33,6 @@ def build(bld):
             'AP_RSSI',
             'AP_Relay',
             'AP_ServoRelayEvents',
-            'AP_WaterDetector',
         ],
         use='mavlink',
     )