From bc6d965bbcd9f515a5545c16db64a4f5f3a838e9 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Tue, 5 Mar 2024 14:41:52 +1030
Subject: [PATCH] Copter: Payload Place: Change PLDP_RNG_MIN to PLDP_RNG_MAX

---
 ArduCopter/Parameters.cpp | 8 ++++----
 ArduCopter/Parameters.h   | 2 +-
 ArduCopter/mode_auto.cpp  | 8 ++++----
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 58d86ab25a..f8f1376c90 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1176,13 +1176,13 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
     // @User: Standard
     AP_GROUPINFO("PLDP_THRESH", 1, ParametersG2, pldp_thrust_placed_fraction, 0.9),
 
-    // @Param: PLDP_RNG_MIN
-    // @DisplayName: Payload Place minimum range finder altitude
-    // @Description: Minimum range finder altitude in m to trigger payload touchdown, set to zero to disable.
+    // @Param: PLDP_RNG_MAX
+    // @DisplayName: Payload Place maximum range finder altitude
+    // @Description: Maximum range finder altitude in m to trigger payload touchdown, set to zero to disable.
     // @Units: m
     // @Range: 0 100
     // @User: Standard
-    AP_GROUPINFO("PLDP_RNG_MIN", 2, ParametersG2, pldp_range_finder_minimum_m, 0.0),
+    AP_GROUPINFO("PLDP_RNG_MAX", 2, ParametersG2, pldp_range_finder_maximum_m, 0.0),
 
     // @Param: PLDP_DELAY
     // @DisplayName: Payload Place climb delay
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 30fbe9b875..21bc10e78c 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -682,7 +682,7 @@ public:
 
     // payload place parameters
     AP_Float pldp_thrust_placed_fraction;
-    AP_Float pldp_range_finder_minimum_m;
+    AP_Float pldp_range_finder_maximum_m;
     AP_Float pldp_delay_s;
     AP_Float pldp_descent_speed_ms;
 };
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 83d2369b5c..12233d9f48 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1301,14 +1301,14 @@ void PayloadPlace::run()
             // thrust is above minimum threshold
             place_start_time_ms = now_ms;
             break;
-        } else if (is_positive(g2.pldp_range_finder_minimum_m)) {
+        } else if (is_positive(g2.pldp_range_finder_maximum_m)) {
             if (!copter.rangefinder_state.enabled) {
                 // abort payload place because rangefinder is not enabled
                 state = State::Ascent_Start;
-                gcs().send_text(MAV_SEVERITY_WARNING, "%s PLDP_RNG_MIN set and rangefinder not enabled", prefix_str);
+                gcs().send_text(MAV_SEVERITY_WARNING, "%s PLDP_RNG_MAX set and rangefinder not enabled", prefix_str);
                 break;
-            } else if (copter.rangefinder_alt_ok() && (copter.rangefinder_state.glitch_count == 0) && (copter.rangefinder_state.alt_cm > g2.pldp_range_finder_minimum_m * 100.0)) {
-                // range finder altitude is above minimum
+            } else if (copter.rangefinder_alt_ok() && (copter.rangefinder_state.glitch_count == 0) && (copter.rangefinder_state.alt_cm > g2.pldp_range_finder_maximum_m * 100.0)) {
+                // range finder altitude is above maximum
                 place_start_time_ms = now_ms;
                 break;
             }