From 82cbc214047ff0294a23b376a53f926cf11b437a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 6 Jan 2023 16:57:16 +0900
Subject: [PATCH] Copter: replace get_rate_bf_targets with get_rate_ef_targets

---
 ArduCopter/Copter.cpp | 11 ++++++++---
 ArduCopter/Copter.h   |  2 +-
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 2ebdf63263..808c8065ee 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -750,10 +750,15 @@ bool Copter::get_wp_crosstrack_error_m(float &xtrack_error) const
     return true;
 }
 
-// get the target body-frame angular velocities in rad/s (Z-axis component used by some gimbals)
-bool Copter::get_rate_bf_targets(Vector3f& rate_bf_targets) const
+// get the target earth-frame angular velocities in rad/s (Z-axis component used by some gimbals)
+bool Copter::get_rate_ef_targets(Vector3f& rate_ef_targets) const
 {
-    rate_bf_targets = attitude_control->rate_bf_targets();
+    // always returns zero vector if landed or disarmed
+    if (copter.ap.land_complete) {
+        rate_ef_targets.zero();
+    } else {
+        rate_ef_targets = attitude_control->get_rate_ef_targets();
+    }
     return true;
 }
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 039f28c674..cee5e405c0 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -687,7 +687,7 @@ private:
     bool get_wp_distance_m(float &distance) const override;
     bool get_wp_bearing_deg(float &bearing) const override;
     bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
-    bool get_rate_bf_targets(Vector3f& rate_bf_targets) const override;
+    bool get_rate_ef_targets(Vector3f& rate_ef_targets) const override;
 
     // Attitude.cpp
     void update_throttle_hover();