Copter: rename FRAME to FRAME_TYPE

This unifies the plane and copter parameter names

ArduCopter/ArduCopter.cpp

@@ -490,7 +490,7 @@ void Copter::one_hz_loop()
         update_using_interlock();
 
         // check the user hasn't updated the frame class or type
-        motors.set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_orientation.get());
+        motors.set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
 
 #if FRAME_CONFIG != HELI_FRAME
         // set all throttle channel settings

ArduCopter/Parameters.cpp

@@ -385,12 +385,12 @@ const AP_Param::Info Copter::var_info[] = {
     // @Range: 0 32767
     GSCALAR(radio_tuning_high, "TUNE_HIGH",         1000),
 
-    // @Param: FRAME
+    // @Param: FRAME_TYPE
-    // @DisplayName: Frame Orientation (+, X or V)
+    // @DisplayName: Frame Type (+, X, V, etc)
     // @Description: Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters.
     // @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B (New)
     // @User: Standard
-    GSCALAR(frame_orientation, "FRAME",             AP_Motors::MOTOR_FRAME_TYPE_X),
+    GSCALAR(frame_type, "FRAME_TYPE", AP_Motors::MOTOR_FRAME_TYPE_X),
 
     // @Param: CH7_OPT
     // @DisplayName: Channel 7 option
@@ -1175,7 +1175,7 @@ void Copter::convert_pid_parameters(void)
 
 #if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME  || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
     // Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
-    if (g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_H) {
+    if (g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_H) {
         pid_scaler = 0.9f;
     }
 #endif

ArduCopter/Parameters.h

@@ -236,7 +236,7 @@ public:
         k_param_compass_enabled,
         k_param_compass,
         k_param_rangefinder_enabled_old, // deprecated
-        k_param_frame_orientation,
+        k_param_frame_type,
         k_param_optflow_enabled,    // deprecated
         k_param_fs_batt_voltage,
         k_param_ch7_option,
@@ -441,7 +441,7 @@ public:
     AP_Int8         radio_tuning;
     AP_Int16        radio_tuning_high;
     AP_Int16        radio_tuning_low;
-    AP_Int8         frame_orientation;
+    AP_Int8         frame_type;
     AP_Int8         ch7_option;
     AP_Int8         ch8_option;
     AP_Int8         ch9_option;

ArduCopter/radio.cpp

@@ -57,7 +57,7 @@ void Copter::init_rc_out()
 
     motors.set_update_rate(g.rc_speed);
     motors.set_loop_rate(scheduler.get_loop_rate_hz());
-    motors.init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_orientation.get());
+    motors.init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
 #if FRAME_CONFIG != HELI_FRAME
     motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 #endif