Copter: rename sonar to rangefinder

ArduCopter/ArduCopter.cpp

@@ -607,14 +607,14 @@ void Copter::read_AHRS(void)
     ahrs.update();
 }
 
-// read baro and sonar altitude at 10hz
+// read baro and rangefinder altitude at 10hz
 void Copter::update_altitude()
 {
     // read in baro altitude
     read_barometer();
 
-    // read in sonar altitude
+    // read in rangefinder altitude
-    sonar_alt           = read_sonar();
+    rangefinder_alt = read_rangefinder();
 
     // write altitude info to dataflash logs
     if (should_log(MASK_LOG_CTUN)) {

ArduCopter/Attitude.cpp

@@ -254,26 +254,26 @@ float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current
     uint32_t now = millis();
 
     // reset target altitude if this controller has just been engaged
-    if (now - last_call_ms > SONAR_TIMEOUT_MS) {
+    if (now - last_call_ms > RANGEFINDER_TIMEOUT_MS) {
-        target_sonar_alt = sonar_alt + current_alt_target - current_alt;
+        target_rangefinder_alt = rangefinder_alt + current_alt_target - current_alt;
     }
     last_call_ms = now;
 
-    // adjust sonar target alt if motors have not hit their limits
+    // adjust rangefinder target alt if motors have not hit their limits
     if ((target_rate<0 && !motors.limit.throttle_lower) || (target_rate>0 && !motors.limit.throttle_upper)) {
-        target_sonar_alt += target_rate * dt;
+        target_rangefinder_alt += target_rate * dt;
     }
 
     // do not let target altitude get too far from current altitude above ground
     // Note: the 750cm limit is perhaps too wide but is consistent with the regular althold limits and helps ensure a smooth transition
-    target_sonar_alt = constrain_float(target_sonar_alt,sonar_alt-pos_control.get_leash_down_z(),sonar_alt+pos_control.get_leash_up_z());
+    target_rangefinder_alt = constrain_float(target_rangefinder_alt,rangefinder_alt-pos_control.get_leash_down_z(),rangefinder_alt+pos_control.get_leash_up_z());
 
-    // calc desired velocity correction from target sonar alt vs actual sonar alt (remove the error already passed to Altitude controller to avoid oscillations)
+    // calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
-    distance_error = (target_sonar_alt - sonar_alt) - (current_alt_target - current_alt);
+    distance_error = (target_rangefinder_alt - rangefinder_alt) - (current_alt_target - current_alt);
-    velocity_correction = distance_error * g.sonar_gain;
+    velocity_correction = distance_error * g.rangefinder_gain;
     velocity_correction = constrain_float(velocity_correction, -THR_SURFACE_TRACKING_VELZ_MAX, THR_SURFACE_TRACKING_VELZ_MAX);
 
-    // return combined pilot climb rate + rate to correct sonar alt error
+    // return combined pilot climb rate + rate to correct rangefinder alt error
     return (target_rate + velocity_correction);
 }
 

ArduCopter/Copter.cpp

@@ -25,7 +25,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 Copter::Copter(void) :
     DataFlash{FIRMWARE_STRING},
     flight_modes(&g.flight_mode1),
-    sonar_enabled(true),
+    rangefinder_enabled(true),
     mission(ahrs, 
             FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
@@ -60,9 +60,9 @@ Copter::Copter(void) :
     frsky_telemetry(ahrs, battery),
 #endif
     climb_rate(0),
-    sonar_alt(0),
+    rangefinder_alt(0),
-    sonar_alt_health(0),
+    rangefinder_alt_health(0),
-    target_sonar_alt(0.0f),
+    target_rangefinder_alt(0.0f),
     baro_alt(0),
     baro_climbrate(0.0f),
     land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),

ArduCopter/Copter.h

@@ -170,16 +170,16 @@ private:
     AP_InertialSensor ins;
 
 #if RANGEFINDER_ENABLED == ENABLED
-    RangeFinder sonar {serial_manager};
+    RangeFinder rangefinder {serial_manager};
-    bool sonar_enabled; // enable user switch for sonar
+    bool rangefinder_enabled; // enable user switch for rangefinder
 #endif
 
     AP_RPM rpm_sensor;
 
     // Inertial Navigation EKF
-    NavEKF EKF{&ahrs, barometer, sonar};
+    NavEKF EKF{&ahrs, barometer, rangefinder};
-    NavEKF2 EKF2{&ahrs, barometer, sonar};
+    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rangefinder, EKF, EKF2, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;
@@ -403,10 +403,9 @@ private:
     // Altitude
     // The cm/s we are moving up or down based on filtered data - Positive = UP
     int16_t climb_rate;
-    // The altitude as reported by Sonar in cm - Values are 20 to 700 generally.
+    int16_t rangefinder_alt;        // altitude as reported by the rangefinder in cm
-    int16_t sonar_alt;
+    uint8_t rangefinder_alt_health; // true if we can trust the altitude from the rangefinder
-    uint8_t sonar_alt_health;    // true if we can trust the altitude from the sonar
+    float target_rangefinder_alt;   // desired altitude in cm above the ground
-    float target_sonar_alt;      // desired altitude in cm above the ground
     int32_t baro_alt;            // barometer altitude in cm above home
     float baro_climbrate;        // barometer climbrate in cm/s
     LowPassFilterVector3f land_accel_ef_filter; // accelerations for land and crash detector tests
@@ -946,8 +945,8 @@ private:
     void radio_passthrough_to_motors();
     void init_barometer(bool full_calibration);
     void read_barometer(void);
-    void init_sonar(void);
+    void init_rangefinder(void);
-    int16_t read_sonar(void);
+    int16_t read_rangefinder(void);
     void init_compass();
     void init_optflow();
     void update_optical_flow(void);
@@ -1076,7 +1075,7 @@ public:
     int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
     int8_t test_relay(uint8_t argc, const Menu::arg *argv);
     int8_t test_shell(uint8_t argc, const Menu::arg *argv);
-    int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
+    int8_t test_rangefinder(uint8_t argc, const Menu::arg *argv);
 
     int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
 };

ArduCopter/GCS_Mavlink.cpp

@@ -250,10 +250,10 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
 #endif
 
 #if RANGEFINDER_ENABLED == ENABLED
-    if (sonar.num_sensors() > 0) {
+    if (rangefinder.num_sensors() > 0) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-        if (sonar.has_data()) {
+        if (rangefinder.has_data()) {
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         }
     }
@@ -412,14 +412,14 @@ void NOINLINE Copter::send_current_waypoint(mavlink_channel_t chan)
 #if RANGEFINDER_ENABLED == ENABLED
 void NOINLINE Copter::send_rangefinder(mavlink_channel_t chan)
 {
-    // exit immediately if sonar is disabled
+    // exit immediately if rangefinder is disabled
-    if (!sonar.has_data()) {
+    if (!rangefinder.has_data()) {
         return;
     }
     mavlink_msg_rangefinder_send(
             chan,
-            sonar.distance_cm() * 0.01f,
+            rangefinder.distance_cm() * 0.01f,
-            sonar.voltage_mv() * 0.001f);
+            rangefinder.voltage_mv() * 0.001f);
 }
 #endif
 
@@ -1847,7 +1847,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_DISTANCE_SENSOR:
     {
         result = MAV_RESULT_ACCEPTED;
-        copter.sonar.handle_msg(msg);
+        copter.rangefinder.handle_msg(msg);
         break;
     }
 

ArduCopter/Log.cpp

@@ -305,8 +305,8 @@ struct PACKED log_Control_Tuning {
     float    desired_alt;
     float    inav_alt;
     int32_t  baro_alt;
-    int16_t  desired_sonar_alt;
+    int16_t  desired_rangefinder_alt;
-    int16_t  sonar_alt;
+    int16_t  rangefinder_alt;
     float    terr_alt;
     int16_t  desired_climb_rate;
     int16_t  climb_rate;
@@ -330,8 +330,8 @@ void Copter::Log_Write_Control_Tuning()
         desired_alt         : pos_control.get_alt_target() / 100.0f,
         inav_alt            : inertial_nav.get_altitude() / 100.0f,
         baro_alt            : baro_alt,
-        desired_sonar_alt   : (int16_t)target_sonar_alt,
+        desired_rangefinder_alt : (int16_t)target_rangefinder_alt,
-        sonar_alt           : sonar_alt,
+        rangefinder_alt     : rangefinder_alt,
         terr_alt            : terr_alt,
         desired_climb_rate  : (int16_t)pos_control.get_vel_target_z(),
         climb_rate          : climb_rate

ArduCopter/Parameters.cpp

@@ -155,7 +155,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Range: 0.01 2.0
     // @Increment: 0.01
     // @User: Standard
-    GSCALAR(sonar_gain,     "RNGFND_GAIN",           SONAR_GAIN_DEFAULT),
+    GSCALAR(rangefinder_gain, "RNGFND_GAIN", RANGEFINDER_GAIN_DEFAULT),
 
     // @Param: FS_BATT_ENABLE
     // @DisplayName: Battery Failsafe Enable
@@ -457,8 +457,8 @@ const AP_Param::Info Copter::var_info[] = {
     // @Param: ARMING_CHECK
     // @DisplayName: Arming check
     // @Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS
-    // @Values: 0:Disabled, 1:Enabled, -3:Skip Baro, -5:Skip Compass, -9:Skip GPS, -17:Skip INS, -33:Skip Params/Sonar, -65:Skip RC, 127:Skip Voltage
+    // @Values: 0:Disabled, 1:Enabled, -3:Skip Baro, -5:Skip Compass, -9:Skip GPS, -17:Skip INS, -33:Skip Params/Rangefinder, -65:Skip RC, 127:Skip Voltage
-    // @Bitmask: 0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Sonar,6:RC,7:Voltage
+    // @Bitmask: 0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Rangefinder,6:RC,7:Voltage
     // @User: Standard
     GSCALAR(arming_check, "ARMING_CHECK",           ARMING_CHECK_ALL),
 
@@ -898,7 +898,7 @@ const AP_Param::Info Copter::var_info[] = {
 #if RANGEFINDER_ENABLED == ENABLED
     // @Group: RNGFND
     // @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
-    GOBJECT(sonar,   "RNGFND", RangeFinder),
+    GOBJECT(rangefinder,   "RNGFND", RangeFinder),
 #endif
 
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN

ArduCopter/Parameters.h

@@ -98,7 +98,7 @@ public:
         k_param_acro_trainer,
         k_param_pilot_velocity_z_max,
         k_param_circle_rate,                // deprecated - remove
-        k_param_sonar_gain,
+        k_param_rangefinder_gain,
         k_param_ch8_option,
         k_param_arming_check,
         k_param_sprayer,
@@ -121,7 +121,7 @@ public:
         k_param_serial1_baud,           // deprecated - remove
         k_param_serial2_baud,           // deprecated - remove
         k_param_land_repositioning,
-        k_param_sonar, // sonar object
+        k_param_rangefinder, // rangefinder object
         k_param_fs_ekf_thresh,
         k_param_terrain,
         k_param_acro_expo,
@@ -231,13 +231,13 @@ public:
         k_param_pack_capacity,  // deprecated - can be deleted
         k_param_compass_enabled,
         k_param_compass,
-        k_param_sonar_enabled_old, // deprecated
+        k_param_rangefinder_enabled_old, // deprecated
         k_param_frame_orientation,
         k_param_optflow_enabled,    // deprecated
         k_param_fs_batt_voltage,
         k_param_ch7_option,
         k_param_auto_slew_rate,     // deprecated - can be deleted
-        k_param_sonar_type_old,     // deprecated
+        k_param_rangefinder_type_old,     // deprecated
         k_param_super_simple = 155,
         k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
         k_param_copter_leds_mode,   // deprecated - remove with next eeprom number change
@@ -383,7 +383,7 @@ public:
     AP_Int16        rtl_altitude;
     AP_Int16        rtl_speed_cms;
     AP_Float        rtl_cone_slope;
-    AP_Float        sonar_gain;
+    AP_Float        rangefinder_gain;
 
     AP_Int8         failsafe_battery_enabled;   // battery failsafe enabled
     AP_Float        fs_batt_voltage;            // battery voltage below which failsafe will be triggered

ArduCopter/arming_checks.cpp

@@ -319,7 +319,7 @@ bool Copter::pre_arm_checks(bool display_failure)
 
         #if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED
         // check range finder if optflow enabled
-        if (optflow.enabled() && !sonar.pre_arm_check()) {
+        if (optflow.enabled() && !rangefinder.pre_arm_check()) {
             if (display_failure) {
                 gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder");
             }

ArduCopter/config.h

@@ -122,35 +122,35 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-// Sonar
+// Rangefinder
 //
 
 #ifndef RANGEFINDER_ENABLED
  # define RANGEFINDER_ENABLED ENABLED
 #endif
 
-#ifndef SONAR_ALT_HEALTH_MAX
+#ifndef RANGEFINDER_HEALTH_MAX
- # define SONAR_ALT_HEALTH_MAX 3            // number of good reads that indicates a healthy sonar
+ # define RANGEFINDER_HEALTH_MAX 3          // number of good reads that indicates a healthy rangefinder
 #endif
 
-#ifndef SONAR_RELIABLE_DISTANCE_PCT
+#ifndef RANGEFINDER_RELIABLE_DISTANCE_PCT
- # define SONAR_RELIABLE_DISTANCE_PCT 0.60f // we trust the sonar out to 60% of it's maximum range
+ # define RANGEFINDER_RELIABLE_DISTANCE_PCT 0.60f   // we trust the rangefinder out to 60% of it's maximum range
 #endif
 
-#ifndef SONAR_GAIN_DEFAULT
+#ifndef RANGEFINDER_GAIN_DEFAULT
- # define SONAR_GAIN_DEFAULT 0.8f           // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
+ # define RANGEFINDER_GAIN_DEFAULT 0.8f     // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction)
 #endif
 
 #ifndef THR_SURFACE_TRACKING_VELZ_MAX
- # define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar
+ # define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder
 #endif
 
-#ifndef SONAR_TIMEOUT_MS
+#ifndef RANGEFINDER_TIMEOUT_MS
- # define SONAR_TIMEOUT_MS  1000            // desired sonar alt will reset to current sonar alt after this many milliseconds without a good sonar alt
+ # define RANGEFINDER_TIMEOUT_MS  1000      // desired rangefinder alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
 #endif
 
-#ifndef SONAR_TILT_CORRECTION               // by disable tilt correction for use of range finder data by EKF
+#ifndef RANGEFINDER_TILT_CORRECTION         // by disable tilt correction for use of range finder data by EKF
- # define SONAR_TILT_CORRECTION DISABLED
+ # define RANGEFINDER_TILT_CORRECTION DISABLED
 #endif
 
 

ArduCopter/control_althold.cpp

@@ -160,8 +160,8 @@ void Copter::althold_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
 
         // call throttle controller
-        if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
+        if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
-            // if sonar is ok, use surface tracking
+            // if rangefinder is ok, use surface tracking
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 

ArduCopter/control_circle.cpp

@@ -91,8 +91,8 @@ void Copter::circle_run()
     }
 
     // run altitude controller
-    if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
+    if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
-        // if sonar is ok, use surface tracking
+        // if rangefinder is ok, use surface tracking
         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

ArduCopter/control_land.cpp

@@ -234,9 +234,9 @@ void Copter::land_nogps_run()
 float Copter::get_land_descent_speed()
 {
 #if RANGEFINDER_ENABLED == ENABLED
-    bool sonar_ok = sonar_enabled && (sonar.status() == RangeFinder::RangeFinder_Good);
+    bool rangefinder_ok = rangefinder_enabled && (rangefinder.status() == RangeFinder::RangeFinder_Good);
 #else
-    bool sonar_ok = false;
+    bool rangefinder_ok = false;
 #endif
 
     // get position controller's target altitude above terrain
@@ -251,8 +251,8 @@ float Copter::get_land_descent_speed()
         Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
     }
 
-    // if we are above 10m and the sonar does not sense anything perform regular alt hold descent
+    // if we are above 10m and the rangefinder does not sense anything perform regular alt hold descent
-    if ((target_alt_cm >= LAND_START_ALT) && !(sonar_ok && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
+    if ((target_alt_cm >= LAND_START_ALT) && !(rangefinder_ok && rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
         if (g.land_speed_high > 0) {
             // user has asked for a different landing speed than normal descent rate
             return -abs(g.land_speed_high);

ArduCopter/control_loiter.cpp

@@ -181,8 +181,8 @@ void Copter::loiter_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
 
         // run altitude controller
-        if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
+        if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
-            // if sonar is ok, use surface tracking
+            // if rangefinder is ok, use surface tracking
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 

ArduCopter/control_poshold.cpp

@@ -520,8 +520,8 @@ void Copter::poshold_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(poshold.roll, poshold.pitch, target_yaw_rate);
 
         // throttle control
-        if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
+        if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
-            // if sonar is ok, use surface tracking
+            // if rangefinder is ok, use surface tracking
             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

ArduCopter/control_sport.cpp

@@ -108,8 +108,8 @@ void Copter::sport_run()
         attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
 
         // call throttle controller
-        if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
+        if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
-            // if sonar is ok, use surface tracking
+            // if rangefinder is ok, use surface tracking
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 

ArduCopter/defines.h

@@ -41,7 +41,7 @@ enum aux_sw_func {
     AUXSW_SAVE_TRIM =            5, // save current position as level
     AUXSW_SAVE_WP =              7, // save mission waypoint or RTL if in auto mode
     AUXSW_CAMERA_TRIGGER =       9, // trigger camera servo or relay
-    AUXSW_SONAR =               10, // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
+    AUXSW_RANGEFINDER =         10, // allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground
     AUXSW_FENCE =               11, // allow enabling or disabling fence in flight
     AUXSW_RESETTOARMEDYAW =     12, // changes yaw to be same as when quad was armed
     AUXSW_SUPERSIMPLE_MODE =    13, // change to simple mode in middle, super simple at top
@@ -148,7 +148,7 @@ enum tuning_func {
     TUNING_DECLINATION =                38, // compass declination in radians
     TUNING_CIRCLE_RATE =                39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
     TUNING_ACRO_YAW_KP =                40, // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
-    TUNING_SONAR_GAIN =                 41, // sonar gain
+    TUNING_RANGEFINDER_GAIN =           41, // rangefinder gain
     TUNING_EKF_VERTICAL_POS =           42, // EKF's baro vs accel (higher rely on accels more, baro impact is reduced).  Range should be 0.2 ~ 4.0?  2.0 is default
     TUNING_EKF_HORIZONTAL_POS =         43, // EKF's gps vs accel (higher rely on accels more, gps impact is reduced).  Range should be 1.0 ~ 3.0?  1.5 is default
     TUNING_EKF_ACCEL_NOISE =            44, // EKF's accel noise (lower means trust accels more, gps & baro less).  Range should be 0.02 ~ 0.5  0.5 is default (but very robust at that level)

ArduCopter/heli.cpp

@@ -44,10 +44,10 @@ void Copter::check_dynamic_flight(void)
         moving = (motors.get_throttle() > 0.8f || ahrs.pitch_sensor < -1500);
     }
 
-    if (!moving && sonar_enabled && sonar.status() == RangeFinder::RangeFinder_Good) {
+    if (!moving && rangefinder_enabled && rangefinder.status() == RangeFinder::RangeFinder_Good) {
         // when we are more than 2m from the ground with good
         // rangefinder lock consider it to be dynamic flight
-        moving = (sonar.distance_cm() > 200);
+        moving = (rangefinder.distance_cm() > 200);
     }
     
     if (moving) {

ArduCopter/precision_landing.cpp

@@ -18,8 +18,8 @@ void Copter::update_precland()
     float final_alt = current_loc.alt;
 
     // use range finder altitude if it is valid
-    if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
+    if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
-        final_alt = sonar_alt;
+        final_alt = rangefinder_alt;
     }
 
     copter.precland.update(final_alt);

ArduCopter/sensors.cpp

@@ -26,38 +26,38 @@ void Copter::read_barometer(void)
     motors.set_air_density_ratio(barometer.get_air_density_ratio());
 }
 
-#if RANGEFINDER_ENABLED == ENABLED
+void Copter::init_rangefinder(void)
-void Copter::init_sonar(void)
 {
-   sonar.init();
+#if RANGEFINDER_ENABLED == ENABLED
-}
+   rangefinder.init();
 #endif
+}
 
-// return sonar altitude in centimeters
+// return rangefinder altitude in centimeters
-int16_t Copter::read_sonar(void)
+int16_t Copter::read_rangefinder(void)
 {
 #if RANGEFINDER_ENABLED == ENABLED
-    sonar.update();
+    rangefinder.update();
 
-    // exit immediately if sonar is disabled
+    // exit immediately if rangefinder is disabled
-    if (sonar.status() != RangeFinder::RangeFinder_Good) {
+    if (rangefinder.status() != RangeFinder::RangeFinder_Good) {
-        sonar_alt_health = 0;
+        rangefinder_alt_health = 0;
         return 0;
     }
 
-    int16_t temp_alt = sonar.distance_cm();
+    int16_t temp_alt = rangefinder.distance_cm();
 
-    if (temp_alt >= sonar.min_distance_cm() && 
+    if (temp_alt >= rangefinder.min_distance_cm() &&
-        temp_alt <= sonar.max_distance_cm() * SONAR_RELIABLE_DISTANCE_PCT) {
+        temp_alt <= rangefinder.max_distance_cm() * RANGEFINDER_RELIABLE_DISTANCE_PCT) {
-        if ( sonar_alt_health < SONAR_ALT_HEALTH_MAX ) {
+        if (rangefinder_alt_health < RANGEFINDER_HEALTH_MAX) {
-            sonar_alt_health++;
+            rangefinder_alt_health++;
         }
     }else{
-        sonar_alt_health = 0;
+        rangefinder_alt_health = 0;
     }
 
- #if SONAR_TILT_CORRECTION == 1
+ #if RANGEFINDER_TILT_CORRECTION == 1
-    // correct alt for angle of the sonar
+    // correct alt for angle of the rangefinder
     float temp = ahrs.cos_pitch() * ahrs.cos_roll();
     temp = MAX(temp, 0.707f);
     temp_alt = (float)temp_alt * temp;

ArduCopter/switches.cpp

@@ -222,7 +222,7 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
     // init channel options
     switch(ch_option) {
         case AUXSW_SIMPLE_MODE:
-        case AUXSW_SONAR:
+        case AUXSW_RANGEFINDER:
         case AUXSW_FENCE:
         case AUXSW_RESETTOARMEDYAW:
         case AUXSW_SUPERSIMPLE_MODE:
@@ -345,13 +345,13 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 #endif
 
-        case AUXSW_SONAR:
+        case AUXSW_RANGEFINDER:
-            // enable or disable the sonar
+            // enable or disable the rangefinder
 #if RANGEFINDER_ENABLED == ENABLED
             if (ch_flag == AUX_SWITCH_HIGH) {
-                sonar_enabled = true;
+                rangefinder_enabled = true;
             }else{
-                sonar_enabled = false;
+                rangefinder_enabled = false;
             }
 #endif
             break;

ArduCopter/system.cpp

@@ -256,10 +256,8 @@ void Copter::init_ardupilot()
     //-----------------------------
     init_barometer(true);
 
-    // initialise sonar
+    // initialise rangefinder
-#if RANGEFINDER_ENABLED == ENABLED
+    init_rangefinder();
-    init_sonar();
-#endif
 
     // initialise AP_RPM library
     rpm_sensor.init();

ArduCopter/terrain.cpp

@@ -13,7 +13,7 @@ void Copter::terrain_update()
 #if RANGEFINDER_ENABLED == ENABLED
     float height;
     if (terrain.height_above_terrain(height, true)) {
-        sonar.set_estimated_terrain_height(height);
+        rangefinder.set_estimated_terrain_height(height);
     }
 #endif
 #endif

ArduCopter/test.cpp

@@ -20,7 +20,7 @@ static const struct Menu::command test_menu_commands[] = {
     {"shell", 				MENU_FUNC(test_shell)},
 #endif
 #if HIL_MODE == HIL_MODE_DISABLED
-    {"rangefinder",         MENU_FUNC(test_sonar)},
+    {"rangefinder",         MENU_FUNC(test_rangefinder)},
 #endif
 };
 
@@ -243,21 +243,21 @@ int8_t Copter::test_shell(uint8_t argc, const Menu::arg *argv)
 /*
  *  test the rangefinders
  */
-int8_t Copter::test_sonar(uint8_t argc, const Menu::arg *argv)
+int8_t Copter::test_rangefinder(uint8_t argc, const Menu::arg *argv)
 {
 #if RANGEFINDER_ENABLED == ENABLED
-	sonar.init();
+	rangefinder.init();
 
-    cliSerial->printf("RangeFinder: %d devices detected\n", sonar.num_sensors());
+    cliSerial->printf("RangeFinder: %d devices detected\n", rangefinder.num_sensors());
 
     print_hit_enter();
     while(1) {
         delay(100);
-        sonar.update();
+        rangefinder.update();
 
-        cliSerial->printf("Primary: status %d distance_cm %d \n", (int)sonar.status(), sonar.distance_cm());
+        cliSerial->printf("Primary: status %d distance_cm %d \n", (int)rangefinder.status(), rangefinder.distance_cm());
         cliSerial->printf("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n",
-        (int)sonar._type[0], (int)sonar.status(0), sonar.distance_cm(0), (int)sonar._type[1], (int)sonar.status(1), sonar.distance_cm(1));
+        (int)rangefinder._type[0], (int)rangefinder.status(0), rangefinder.distance_cm(0), (int)rangefinder._type[1], (int)rangefinder.status(1), rangefinder.distance_cm(1));
 
         if(cliSerial->available() > 0) {
             return (0);

ArduCopter/tuning.cpp

@@ -137,9 +137,9 @@ void Copter::tuning() {
         circle_nav.set_rate((float)g.rc_6.get_control_in()/25.0f-20.0f);
         break;
 
-    case TUNING_SONAR_GAIN:
+    case TUNING_RANGEFINDER_GAIN:
-        // set sonar gain
+        // set rangefinder gain
-        g.sonar_gain.set(tuning_value);
+        g.rangefinder_gain.set(tuning_value);
         break;
 
 #if 0