From 9130c88f15ec436aac1477638708f1356238f0d1 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 16 Feb 2014 00:00:41 +0900
Subject: [PATCH] AC_PosControl: throttle rate to simple P controller

---
 libraries/AC_AttitudeControl/AC_PosControl.cpp | 6 +++---
 libraries/AC_AttitudeControl/AC_PosControl.h   | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index e55c033417..ed7fa43ed0 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -22,14 +22,14 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] PROGMEM = {
 //
 AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
                              const AP_Motors& motors, AC_AttitudeControl& attitude_control,
-                             AC_P& p_alt_pos, AC_PID& pid_alt_rate, AC_PID& pid_alt_accel,
+                             AC_P& p_alt_pos, AC_P& p_alt_rate, AC_PID& pid_alt_accel,
                              AC_P& p_pos_xy, AC_PID& pid_rate_lat, AC_PID& pid_rate_lon) :
     _ahrs(ahrs),
     _inav(inav),
     _motors(motors),
     _attitude_control(attitude_control),
     _p_alt_pos(p_alt_pos),
-    _pid_alt_rate(pid_alt_rate),
+    _p_alt_rate(p_alt_rate),
     _pid_alt_accel(pid_alt_accel),
     _p_pos_xy(p_pos_xy),
     _pid_rate_lat(pid_rate_lat),
@@ -285,7 +285,7 @@ void AC_PosControl::rate_to_accel_z(float vel_target_z)
     _last_update_rate_ms = now;
 
     // calculate p
-    p = _pid_alt_rate.kP() * _vel_error.z;
+    p = _p_alt_rate.kP() * _vel_error.z;
 
     // consolidate and constrain target acceleration
     desired_accel += p;
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index 1153b3b53e..7f4c3bfc30 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -42,7 +42,7 @@ public:
     /// Constructor
     AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
                   const AP_Motors& motors, AC_AttitudeControl& attitude_control,
-                  AC_P& p_alt_pos, AC_PID& pid_alt_rate, AC_PID& pid_alt_accel,
+                  AC_P& p_alt_pos, AC_P& p_alt_rate, AC_PID& pid_alt_accel,
                   AC_P& p_pos_xy, AC_PID& pid_rate_lat, AC_PID& pid_rate_lon);
 
     ///
@@ -263,7 +263,7 @@ private:
 
     // references to pid controllers and motors
     AC_P&       _p_alt_pos;
-    AC_PID&     _pid_alt_rate;
+    AC_P&       _p_alt_rate;
     AC_PID&     _pid_alt_accel;
     AC_P&	    _p_pos_xy;
     AC_PID&	    _pid_rate_lat;