Plane: Move loiter_radius to vehicle

ArduPlane/Parameters.cpp

@@ -292,7 +292,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Range: -32767 32767
     // @Increment: 1
     // @User: Standard
-    GSCALAR(loiter_radius,          "WP_LOITER_RAD",  LOITER_RADIUS_DEFAULT),
+    ASCALAR(loiter_radius,          "WP_LOITER_RAD",  LOITER_RADIUS_DEFAULT),
 
     // @Param: RTL_RADIUS
     // @DisplayName: RTL loiter radius

ArduPlane/Parameters.h

@@ -401,7 +401,6 @@ public:
     AP_Int8 waypoint_mode;
     AP_Int16 waypoint_radius;
     AP_Int16 waypoint_max_radius;
-    AP_Int16 loiter_radius;
     AP_Int16 rtl_radius;
 
 #if GEOFENCE_ENABLED == ENABLED

ArduPlane/commands.cpp

@@ -70,7 +70,7 @@ void Plane::set_next_WP(const struct Location &loc)
 
 void Plane::set_guided_WP(void)
 {
-    if (g.loiter_radius < 0 || guided_WP_loc.flags.loiter_ccw) {
+    if (aparm.loiter_radius < 0 || guided_WP_loc.flags.loiter_ccw) {
         loiter.direction = -1;
     } else {
         loiter.direction = 1;

ArduPlane/commands_logic.cpp

@@ -337,7 +337,7 @@ void Plane::do_RTL(int32_t rtl_altitude)
     setup_terrain_target_alt(next_WP_loc);
     set_target_altitude_location(next_WP_loc);
 
-    if (g.loiter_radius < 0) {
+    if (aparm.loiter_radius < 0) {
         loiter.direction = -1;
     } else {
         loiter.direction = 1;
@@ -653,7 +653,7 @@ bool Plane::verify_loiter_unlim()
 bool Plane::verify_loiter_time()
 {
     bool result = false;
-    // mission radius is always g.loiter_radius
+    // mission radius is always aparm.loiter_radius
     update_loiter(0);
 
     if (loiter.start_time_ms == 0) {
@@ -861,7 +861,7 @@ bool Plane::verify_within_distance()
 
 void Plane::do_loiter_at_location()
 {
-    if (g.loiter_radius < 0) {
+    if (aparm.loiter_radius < 0) {
         loiter.direction = -1;
     } else {
         loiter.direction = 1;
@@ -1031,7 +1031,7 @@ bool Plane::verify_loiter_heading(bool init)
         return true;
     }
 
-    if (get_distance(next_WP_loc, next_nav_cmd.content.location) < labs(g.loiter_radius)) {
+    if (get_distance(next_WP_loc, next_nav_cmd.content.location) < labs(aparm.loiter_radius)) {
         /* Whenever next waypoint is within the loiter radius,
            maintaining loiter would prevent us from ever pointing toward the next waypoint.
            Hence break out of loiter immediately

ArduPlane/navigation.cpp

@@ -143,11 +143,11 @@ void Plane::update_loiter(uint16_t radius)
 {
     if (radius <= 1) {
         // if radius is <=1 then use the general loiter radius. if it's small, use default
-        radius = (abs(g.loiter_radius) <= 1) ? LOITER_RADIUS_DEFAULT : abs(g.loiter_radius);
+        radius = (abs(aparm.loiter_radius) <= 1) ? LOITER_RADIUS_DEFAULT : abs(aparm.loiter_radius);
         if (next_WP_loc.flags.loiter_ccw == 1) {
             loiter.direction = -1;
         } else {
-            loiter.direction = (g.loiter_radius < 0) ? -1 : 1;
+            loiter.direction = (aparm.loiter_radius < 0) ? -1 : 1;
         }
     }