From 72d2712c4e5537095152304bd67ffb2fdbc6c16e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 19 Apr 2014 16:41:19 +0900
Subject: [PATCH] AC_WPNav: integrate update_xy_controller name change

---
 libraries/AC_WPNav/AC_WPNav.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index a7c089f73d..b7e23ca2da 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -233,8 +233,8 @@ void AC_WPNav::update_loiter()
         // trigger position controller on next update
         _pos_control.trigger_xy();
     }else{
-        // run loiter's position to velocity step
-        _pos_control.update_pos_controller(true);
+        // run horizontal position controller
+        _pos_control.update_xy_controller(true);
     }
 }
 
@@ -457,8 +457,8 @@ void AC_WPNav::update_wpnav()
         advance_wp_target_along_track(dt);
         _pos_control.trigger_xy();
     }else{
-        // run position controller
-        _pos_control.update_pos_controller(false);
+        // run horizontal position controller
+        _pos_control.update_xy_controller(false);
     }
 }
 
@@ -661,8 +661,8 @@ void AC_WPNav::update_spline()
         advance_spline_target_along_track(dt);
         _pos_control.trigger_xy();
     }else{
-        // run position controller
-        _pos_control.update_pos_controller(false);
+        // run horizontal position controller
+        _pos_control.update_xy_controller(false);
     }
 }