AC_AttitudeControl: : Add units to the accessors.

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -1007,7 +1007,7 @@ void AC_AttitudeControl::accel_limiting(bool enable_limits)
 }
 
 // Return tilt angle limit for pilot input that prioritises altitude hold over lean angle
-float AC_AttitudeControl::get_althold_lean_angle_max() const
+float AC_AttitudeControl::get_althold_lean_angle_max_cd() const
 {
     // convert to centi-degrees for public interface
     return MAX(ToDeg(_althold_lean_angle_max), AC_ATTITUDE_CONTROL_ANGLE_LIMIT_MIN) * 100.0f;

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -76,34 +76,34 @@ public:
     virtual AC_PID& get_rate_yaw_pid() = 0;
 
     // get the roll acceleration limit in centidegrees/s/s or radians/s/s
-    float get_accel_roll_max() const { return _accel_roll_max; }
+    float get_accel_roll_max_cdss() const { return _accel_roll_max; }
     float get_accel_roll_max_radss() const { return radians(_accel_roll_max * 0.01f); }
 
     // Sets the roll acceleration limit in centidegrees/s/s
-    void set_accel_roll_max(float accel_roll_max) { _accel_roll_max = accel_roll_max; }
+    void set_accel_roll_max_cdss(float accel_roll_max) { _accel_roll_max = accel_roll_max; }
 
     // Sets and saves the roll acceleration limit in centidegrees/s/s
-    void save_accel_roll_max(float accel_roll_max) { _accel_roll_max.set_and_save(accel_roll_max); }
+    void save_accel_roll_max_cdss(float accel_roll_max) { _accel_roll_max.set_and_save(accel_roll_max); }
 
     // get the pitch acceleration limit in centidegrees/s/s or radians/s/s
-    float get_accel_pitch_max() const { return _accel_pitch_max; }
+    float get_accel_pitch_max_cdss() const { return _accel_pitch_max; }
     float get_accel_pitch_max_radss() const { return radians(_accel_pitch_max * 0.01f); }
 
     // Sets the pitch acceleration limit in centidegrees/s/s
-    void set_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; }
+    void set_accel_pitch_max_cdss(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; }
 
     // Sets and saves the pitch acceleration limit in centidegrees/s/s
-    void save_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max.set_and_save(accel_pitch_max); }
+    void save_accel_pitch_max_cdss(float accel_pitch_max) { _accel_pitch_max.set_and_save(accel_pitch_max); }
 
     // get the yaw acceleration limit in centidegrees/s/s or radians/s/s
-    float get_accel_yaw_max() const { return _accel_yaw_max; }
+    float get_accel_yaw_max_cdss() const { return _accel_yaw_max; }
     float get_accel_yaw_max_radss() const { return radians(_accel_yaw_max * 0.01f); }
 
     // Sets the yaw acceleration limit in centidegrees/s/s
-    void set_accel_yaw_max(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; }
+    void set_accel_yaw_max_cdss(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; }
 
     // Sets and saves the yaw acceleration limit in centidegrees/s/s
-    void save_accel_yaw_max(float accel_yaw_max) { _accel_yaw_max.set_and_save(accel_yaw_max); }
+    void save_accel_yaw_max_cdss(float accel_yaw_max) { _accel_yaw_max.set_and_save(accel_yaw_max); }
 
     // get the roll angular velocity limit in radians/s
     float get_ang_vel_roll_max_rads() const { return _ang_vel_roll_max; }
@@ -279,13 +279,13 @@ public:
     float angle_boost() const { return _angle_boost; }
 
     // Return tilt angle limit for pilot input that prioritises altitude hold over lean angle
-    virtual float get_althold_lean_angle_max() const;
+    virtual float get_althold_lean_angle_max_cd() const;
 
     // Return configured tilt angle limit in centidegrees
-    float lean_angle_max() const { return _aparm.angle_max; }
+    float lean_angle_max_cd() const { return _aparm.angle_max; }
 
     // Return tilt angle in degrees
-    float lean_angle() const { return degrees(_thrust_angle); }
+    float lean_angle_deg() const { return degrees(_thrust_angle); }
 
     // calculates the velocity correction from an angle error. The angular velocity has acceleration and
     // deceleration limits including basic jerk limiting using smoothing_gain

libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h

@@ -62,7 +62,7 @@ public:
     void rate_controller_run() override;
 
     // limiting lean angle based on throttle makes no sense for 6DoF, always allow 90 deg, return in centi-degrees
-    float get_althold_lean_angle_max() const override { return 9000.0f; }
+    float get_althold_lean_angle_max_cd() const override { return 9000.0f; }
 
     // set the attitude that will be used in 6DoF flight
     void set_offset_roll_pitch(float roll_deg, float pitch_deg) {

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -654,7 +654,7 @@ void AC_PosControl::update_xy_controller()
 
     // limit acceleration using maximum lean angles
     _limit_vector.xy().zero();
-    float angle_max = MIN(_attitude_control.get_althold_lean_angle_max(), get_lean_angle_max_cd());
+    float angle_max = MIN(_attitude_control.get_althold_lean_angle_max_cd(), get_lean_angle_max_cd());
     float accel_max = GRAVITY_MSS * 100.0f * tanf(ToRad(angle_max * 0.01f));
     if (_accel_target.limit_length_xy(accel_max)) {
         _limit_vector.xy() = _accel_target.xy();
@@ -1033,7 +1033,7 @@ void AC_PosControl::update_z_controller()
 float AC_PosControl::get_lean_angle_max_cd() const
 {
     if (is_zero(_lean_angle_max)) {
-        return _attitude_control.lean_angle_max();
+        return _attitude_control.lean_angle_max_cd();
     }
     return _lean_angle_max * 100.0f;
 }