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Copter: rename TERRAIN_USE to TERRAIN_FOLLOW 

This matches plane's parameter name
This commit is contained in:
Randy Mackay 2016-04-21 14:04:19 +09:00
parent 13c26eab67
commit 74e02d2c82
3 changed files with 9 additions and 8 deletions
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11
ArduCopter/Parameters.cpp
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@ -960,12 +960,13 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(throw_motor_start, "THROW_MOT_START", 0), GSCALAR(throw_motor_start, "THROW_MOT_START", 0),
// @Param: TERRAIN_USE // @Param: TERRAIN_FOLLOW
// @DisplayName: Terrain use control // @DisplayName: Terrain Following use control
// @Description: Control how terrain data is used // @Description: Control if terrain data is used in RTL and LAND
// @Values: 0:NeverUse, 1:AlwaysUse // @Description: This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
// @Values: 0:Do Not Use in RTL and Land 1:Use in RTL and Land
// @User: Standard // @User: Standard
GSCALAR(terrain_use, "TERRAIN_USE", 0), GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
AP_VAREND AP_VAREND
}; };

4
ArduCopter/Parameters.h
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@ -179,7 +179,7 @@ public:
k_param_disarm_delay, k_param_disarm_delay,
k_param_fs_crash_check, k_param_fs_crash_check,
k_param_throw_motor_start, k_param_throw_motor_start,
k_param_terrain_use, // 94 k_param_terrain_follow, // 94
// 97: RSSI // 97: RSSI
k_param_rssi = 97, k_param_rssi = 97,
@ -453,7 +453,7 @@ public:
AP_Int16 gcs_pid_mask; AP_Int16 gcs_pid_mask;
AP_Int8 throw_motor_start; AP_Int8 throw_motor_start;
AP_Int8 terrain_use; AP_Int8 terrain_follow;
// RC channels // RC channels
RC_Channel rc_1; RC_Channel rc_1;

2
ArduCopter/terrain.cpp
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@ -33,7 +33,7 @@ void Copter::terrain_logging()
bool Copter::terrain_use() bool Copter::terrain_use()
{ {
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
return (g.terrain_use > 0); return (g.terrain_follow > 0);
#else #else
return false; return false;
#endif #endif