Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN

ArduCopter/Copter.h

@@ -884,7 +884,6 @@ private:
     // terrain.cpp
     void terrain_update();
     void terrain_logging();
-    float get_terrain_margin() const;
 
     // tuning.cpp
     void tuning();

ArduCopter/Parameters.cpp

@@ -1079,16 +1079,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_GROUPINFO("GUID_TIMEOUT", 46, ParametersG2, guided_timeout, 3.0),
 #endif
 
-#if AP_TERRAIN_AVAILABLE
-    // @Param: TERRAIN_MARGIN
-    // @DisplayName: Terrain following altitude margin
-    // @Description: Terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)
-    // @Units: m
-    // @Range: 0.1 100
-    // @User: Advanced
-    AP_GROUPINFO("TERRAIN_MARGIN", 47, ParametersG2, terrain_margin, 10.0),
-#endif
-
     AP_GROUPEND
 };
 

ArduCopter/Parameters.h

@@ -652,10 +652,6 @@ public:
 #if MODE_GUIDED_ENABLED == ENABLED
     AP_Float guided_timeout;
 #endif
-
-#if AP_TERRAIN_AVAILABLE
-    AP_Float terrain_margin;
-#endif
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/mode_guided.cpp

@@ -553,7 +553,7 @@ void ModeGuided::pos_control_run()
 
     float pos_offset_z_buffer = 0.0; // Vertical buffer size in m
     if (guided_pos_terrain_alt) {
-        pos_offset_z_buffer = MIN(copter.get_terrain_margin() * 100.0, 0.5 * fabsf(guided_pos_target_cm.z));
+        pos_offset_z_buffer = MIN(copter.wp_nav->get_terrain_margin() * 100.0, 0.5 * fabsf(guided_pos_target_cm.z));
     }
     pos_control->input_pos_xyz(guided_pos_target_cm, terr_offset, pos_offset_z_buffer);
 

ArduCopter/terrain.cpp

@@ -26,13 +26,3 @@ void Copter::terrain_logging()
     }
 #endif
 }
-
-// return terrain following altitude margin.  Vehicle will stop if distance from target altitude is larger than this margin (in meters)
-float Copter::get_terrain_margin() const
-{
-#if AP_TERRAIN_AVAILABLE
-    return MAX(g2.terrain_margin.get(), 0.1);
-#else
-    return 10;
-#endif
-}