Copter: refactor/rename precland methods

ArduCopter/mode.cpp

@@ -699,28 +699,29 @@ void Mode::land_run_horizontal_control()
     }
 }
 
-// Do normal landing or precision landing if enabled. pause_descent is true if vehicle should not descend
+// run normal or precision landing (if enabled)
-void Mode::execute_landing(bool pause_descent)
+// pause_descent is true if vehicle should not descend
+void Mode::land_run_normal_or_precland(bool pause_descent)
 {
 #if PRECISION_LANDING == ENABLED
     if (pause_descent || !copter.precland.enabled()) {
         // we don't want to start descending immediately or prec land is disabled
         // in both cases just run simple land controllers
-        run_land_controllers(pause_descent);
+        land_run_horiz_and_vert_control(pause_descent);
     } else {
         // prec land is enabled and we have not paused descent
         // the state machine takes care of the entire prec landing procedure
-        run_precland();
+        precland_run();
     }
 #else
-    run_land_controllers(pause_descent);
+    land_run_horiz_and_vert_control(pause_descent);
 #endif
 }
 
 #if PRECISION_LANDING == ENABLED
 // Go towards a position commanded by prec land state machine in order to retry landing
 // The passed in location is expected to be NED and in m
-void Mode::land_retry_position(const Vector3f &retry_loc)
+void Mode::precland_retry_position(const Vector3f &retry_pos)
 {
     if (!copter.failsafe.radio) {
         if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
@@ -750,10 +751,10 @@ void Mode::land_retry_position(const Vector3f &retry_loc)
         }
     }
 
-    Vector3p retry_loc_NEU{retry_loc.x, retry_loc.y, retry_loc.z * -1.0f};
+    Vector3p retry_pos_NEU{retry_pos.x, retry_pos.y, retry_pos.z * -1.0f};
     //pos contoller expects input in NEU cm's
-    retry_loc_NEU = retry_loc_NEU * 100.0f;
+    retry_pos_NEU = retry_pos_NEU * 100.0f;
-    pos_control->input_pos_xyz(retry_loc_NEU, 0.0f, 1000.0f);
+    pos_control->input_pos_xyz(retry_pos_NEU, 0.0f, 1000.0f);
 
     // run position controllers
     pos_control->update_xy_controller();
@@ -767,7 +768,7 @@ void Mode::land_retry_position(const Vector3f &retry_loc)
 
 // Run precland statemachine. This function should be called from any mode that wants to do precision landing.
 // This handles everything from prec landing, to prec landing failures, to retries and failsafe measures
-void Mode::run_precland()
+void Mode::precland_run()
 {
     // if user is taking control, we will not run the statemachine, and simply land (may or may not be on target)
     if (!copter.ap.land_repo_active) {
@@ -777,7 +778,7 @@ void Mode::run_precland()
         switch (copter.precland_statemachine.update(retry_pos)) {
         case AC_PrecLand_StateMachine::Status::RETRYING:
             // we want to retry landing by going to another position
-            land_retry_position(retry_pos);
+            precland_retry_position(retry_pos);
             break;
 
         case AC_PrecLand_StateMachine::Status::FAILSAFE: {
@@ -785,11 +786,11 @@ void Mode::run_precland()
             switch (copter.precland_statemachine.get_failsafe_actions()) {
             case AC_PrecLand_StateMachine::FailSafeAction::DESCEND:
                 // descend normally, prec land target is definitely not in sight
-                run_land_controllers();
+                land_run_horiz_and_vert_control();
                 break;
             case AC_PrecLand_StateMachine::FailSafeAction::HOLD_POS:
                 // sending "true" in this argument will stop the descend
-                run_land_controllers(true);
+                land_run_horiz_and_vert_control(true);
                 break;
             }
             break;
@@ -801,12 +802,12 @@ void Mode::run_precland()
         case AC_PrecLand_StateMachine::Status::DESCEND:
             // run land controller. This will descend towards the target if prec land target is in sight
             // else it will just descend vertically
-            run_land_controllers();
+            land_run_horiz_and_vert_control();
             break;
         }
     } else {
         // just land, since user has taken over controls, it does not make sense to run any retries or failsafe measures
-        run_land_controllers();
+        land_run_horiz_and_vert_control();
     }
 }
 #endif

ArduCopter/mode.h

@@ -111,16 +111,27 @@ protected:
     void zero_throttle_and_hold_attitude();
     void make_safe_ground_handling(bool force_throttle_unlimited = false);
 
-    // functions to control landing
+    // functions to control normal landing.  pause_descent is true if vehicle should not descend
-    // in modes that support landing
     void land_run_horizontal_control();
     void land_run_vertical_control(bool pause_descent = false);
-    void run_land_controllers(bool pause_descent = false) {
+    void land_run_horiz_and_vert_control(bool pause_descent = false) {
         land_run_horizontal_control();
         land_run_vertical_control(pause_descent);
     }
-    // Do normal landing or precision landing if enabled. pause_descent is true if vehicle should not descend
+
-    void execute_landing(bool pause_descent = false);
+    // run normal or precision landing (if enabled)
+    // pause_descent is true if vehicle should not descend
+    void land_run_normal_or_precland(bool pause_descent = false);
+
+#if PRECISION_LANDING == ENABLED
+    // Go towards a position commanded by prec land state machine in order to retry landing
+    // The passed in location is expected to be NED and in meters
+    void precland_retry_position(const Vector3f &retry_pos);
+
+    // Run precland statemachine. This function should be called from any mode that wants to do precision landing.
+    // This handles everything from prec landing, to prec landing failures, to retries and failsafe measures
+    void precland_run();
+#endif
 
     // return expected input throttle setting to hover:
     virtual float throttle_hover() const;
@@ -246,17 +257,6 @@ public:
     };
     static AutoYaw auto_yaw;
 
-#if PRECISION_LANDING == ENABLED
-    // Go towards a position commanded by prec land state machine in order to retry landing
-    // The passed in location is expected to be NED and in meters
-    void land_retry_position(const Vector3f &retry_loc);
-
-    // Run precland statemachine. This function should be called from any mode that wants to do precision landing.
-    // This handles everything from prec landing, to prec landing failures, to retries and failsafe measures
-    void run_precland();
-
-#endif
-
     // pass-through functions to reduce code churn on conversion;
     // these are candidates for moving into the Mode base
     // class.

ArduCopter/mode_auto.cpp

@@ -890,7 +890,7 @@ void ModeAuto::land_run()
     motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // run normal landing or precision landing (if enabled)
-    execute_landing();
+    land_run_normal_or_precland();
 }
 
 // auto_rtl_run - rtl in AUTO flight mode

ArduCopter/mode_land.cpp

@@ -85,7 +85,7 @@ void ModeLand::gps_run()
         }
 
         // run normal landing or precision landing (if enabled)
-        execute_landing(land_pause);
+        land_run_normal_or_precland(land_pause);
     }
 }
 

ArduCopter/mode_rtl.cpp

@@ -414,7 +414,7 @@ void ModeRTL::land_run(bool disarm_on_land)
     motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // run normal landing or precision landing (if enabled)
-    execute_landing();
+    land_run_normal_or_precland();
 }
 
 void ModeRTL::build_path()