Copter: rename flightmode_ objects to mode_

ArduCopter/ArduCopter.cpp

@@ -537,7 +537,7 @@ void Copter::update_GPS(void)
 
 void Copter::smart_rtl_save_position()
 {
-    flightmode_smartrtl.save_position();
+    mode_smartrtl.save_position();
 }
 
 void Copter::init_simple_bearing()

ArduCopter/Copter.cpp

@@ -57,7 +57,7 @@ Copter::Copter(void)
     auto_trim_counter(0),
     in_mavlink_delay(false),
     param_loader(var_info),
-    flightmode(&flightmode_stabilize)
+    flightmode(&mode_stabilize)
 {
     memset(&current_loc, 0, sizeof(current_loc));
 

ArduCopter/Copter.h

@@ -946,54 +946,54 @@ private:
     Copter::Mode *flightmode;
 
 #if FRAME_CONFIG == HELI_FRAME
-    Copter::ModeAcro_Heli flightmode_acro{*this};
+    Copter::ModeAcro_Heli mode_acro{*this};
 #else
-    Copter::ModeAcro flightmode_acro{*this};
+    Copter::ModeAcro mode_acro{*this};
 #endif
 
-    Copter::ModeAltHold flightmode_althold{*this};
+    Copter::ModeAltHold mode_althold{*this};
 
-    Copter::ModeAuto flightmode_auto{*this, mission, circle_nav};
+    Copter::ModeAuto mode_auto{*this, mission, circle_nav};
 
 #if AUTOTUNE_ENABLED == ENABLED
-    Copter::ModeAutoTune flightmode_autotune{*this};
+    Copter::ModeAutoTune mode_autotune{*this};
 #endif
 
-    Copter::ModeBrake flightmode_brake{*this};
+    Copter::ModeBrake mode_brake{*this};
 
-    Copter::ModeCircle flightmode_circle{*this, circle_nav};
+    Copter::ModeCircle mode_circle{*this, circle_nav};
 
-    Copter::ModeDrift flightmode_drift{*this};
+    Copter::ModeDrift mode_drift{*this};
 
-    Copter::ModeFlip flightmode_flip{*this};
+    Copter::ModeFlip mode_flip{*this};
 
-    Copter::ModeGuided flightmode_guided{*this};
+    Copter::ModeGuided mode_guided{*this};
 
-    Copter::ModeLand flightmode_land{*this};
+    Copter::ModeLand mode_land{*this};
 
-    Copter::ModeLoiter flightmode_loiter{*this};
+    Copter::ModeLoiter mode_loiter{*this};
 
-    Copter::ModePosHold flightmode_poshold{*this};
+    Copter::ModePosHold mode_poshold{*this};
 
-    Copter::ModeRTL flightmode_rtl{*this};
+    Copter::ModeRTL mode_rtl{*this};
 
 #if FRAME_CONFIG == HELI_FRAME
-    Copter::ModeStabilize_Heli flightmode_stabilize{*this};
+    Copter::ModeStabilize_Heli mode_stabilize{*this};
 #else
-    Copter::ModeStabilize flightmode_stabilize{*this};
+    Copter::ModeStabilize mode_stabilize{*this};
 #endif
 
-    Copter::ModeSport flightmode_sport{*this};
+    Copter::ModeSport mode_sport{*this};
 
-    Copter::ModeAvoidADSB flightmode_avoid_adsb{*this};
+    Copter::ModeAvoidADSB mode_avoid_adsb{*this};
 
-    Copter::ModeThrow flightmode_throw{*this};
+    Copter::ModeThrow mode_throw{*this};
 
-    Copter::ModeGuidedNoGPS flightmode_guided_nogps{*this};
+    Copter::ModeGuidedNoGPS mode_guided_nogps{*this};
 
-    Copter::ModeSmartRTL flightmode_smartrtl{*this};
+    Copter::ModeSmartRTL mode_smartrtl{*this};
 
-    Copter::Mode *flightmode_for_mode(const uint8_t mode);
+    Copter::Mode *mode_from_mode_num(const uint8_t mode);
 
     void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
 

ArduCopter/GCS_Mavlink.cpp

@@ -1291,7 +1291,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 
                     if (!shot_mode) {
                         if (copter.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) {
-                            copter.flightmode_brake.timeout_to_loiter_ms(2500);
+                            copter.mode_brake.timeout_to_loiter_ms(2500);
                         } else {
                             copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
                         }
@@ -1335,7 +1335,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         mavlink_msg_set_attitude_target_decode(msg, &packet);
 
         // exit if vehicle is not in Guided mode or Auto-Guided mode
-        if ((copter.control_mode != GUIDED) && (copter.control_mode != GUIDED_NOGPS) && !(copter.control_mode == AUTO && copter.flightmode_auto.mode() == Auto_NavGuided)) {
+        if ((copter.control_mode != GUIDED) && (copter.control_mode != GUIDED_NOGPS) && !(copter.control_mode == AUTO && copter.mode_auto.mode() == Auto_NavGuided)) {
             break;
         }
 
@@ -1364,7 +1364,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             use_yaw_rate = true;
         }
 
-        copter.flightmode_guided.set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
+        copter.mode_guided.set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
             climb_rate_cms, use_yaw_rate, packet.body_yaw_rate);
 
         break;
@@ -1377,7 +1377,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
 
         // exit if vehicle is not in Guided mode or Auto-Guided mode
-        if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.flightmode_auto.mode() == Auto_NavGuided)) {
+        if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.mode_auto.mode() == Auto_NavGuided)) {
             break;
         }
 
@@ -1446,16 +1446,16 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 
         // send request
         if (!pos_ignore && !vel_ignore && acc_ignore) {
-            if (copter.flightmode_guided.set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
+            if (copter.mode_guided.set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
                 result = MAV_RESULT_ACCEPTED;
             } else {
                 result = MAV_RESULT_FAILED;
             }
         } else if (pos_ignore && !vel_ignore && acc_ignore) {
-            copter.flightmode_guided.set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
+            copter.mode_guided.set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
             result = MAV_RESULT_ACCEPTED;
         } else if (!pos_ignore && vel_ignore && acc_ignore) {
-            if (copter.flightmode_guided.set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
+            if (copter.mode_guided.set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
                 result = MAV_RESULT_ACCEPTED;
             } else {
                 result = MAV_RESULT_FAILED;
@@ -1474,7 +1474,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         mavlink_msg_set_position_target_global_int_decode(msg, &packet);
 
         // exit if vehicle is not in Guided mode or Auto-Guided mode
-        if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.flightmode_auto.mode() == Auto_NavGuided)) {
+        if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.mode_auto.mode() == Auto_NavGuided)) {
             break;
         }
 
@@ -1548,16 +1548,16 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         }
 
         if (!pos_ignore && !vel_ignore && acc_ignore) {
-            if (copter.flightmode_guided.set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
+            if (copter.mode_guided.set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
                 result = MAV_RESULT_ACCEPTED;
             } else {
                 result = MAV_RESULT_FAILED;
             }
         } else if (pos_ignore && !vel_ignore && acc_ignore) {
-            copter.flightmode_guided.set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
+            copter.mode_guided.set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
             result = MAV_RESULT_ACCEPTED;
         } else if (!pos_ignore && vel_ignore && acc_ignore) {
-            if (copter.flightmode_guided.set_destination(pos_neu_cm, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
+            if (copter.mode_guided.set_destination(pos_neu_cm, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
                 result = MAV_RESULT_ACCEPTED;
             } else {
                 result = MAV_RESULT_FAILED;

ArduCopter/avoidance_adsb.cpp

@@ -182,7 +182,7 @@ bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle
     }
 
     // send target velocity
-    copter.flightmode_avoid_adsb.set_velocity(velocity_neu);
+    copter.mode_avoid_adsb.set_velocity(velocity_neu);
     return true;
 }
 
@@ -208,7 +208,7 @@ bool AP_Avoidance_Copter::handle_avoidance_horizontal(const AP_Avoidance::Obstac
         velocity_neu.x *= copter.wp_nav->get_speed_xy();
         velocity_neu.y *= copter.wp_nav->get_speed_xy();
         // send target velocity
-        copter.flightmode_avoid_adsb.set_velocity(velocity_neu);
+        copter.mode_avoid_adsb.set_velocity(velocity_neu);
         return true;
     }
 
@@ -240,7 +240,7 @@ bool AP_Avoidance_Copter::handle_avoidance_perpendicular(const AP_Avoidance::Obs
             }
         }
         // send target velocity
-        copter.flightmode_avoid_adsb.set_velocity(velocity_neu);
+        copter.mode_avoid_adsb.set_velocity(velocity_neu);
         return true;
     }
 

ArduCopter/commands_logic.cpp

@@ -292,7 +292,7 @@ void Copter::exit_mission()
     // if we are not on the ground switch to loiter or land
     if(!ap.land_complete) {
         // try to enter loiter but if that fails land
-        if(!flightmode_auto.loiter_start()) {
+        if(!mode_auto.loiter_start()) {
             set_mode(LAND, MODE_REASON_MISSION_END);
         }
     }else{
@@ -309,7 +309,7 @@ void Copter::exit_mission()
 void Copter::do_RTL(void)
 {
     // start rtl in auto flight mode
-    flightmode_auto.rtl_start();
+    mode_auto.rtl_start();
 }
 
 /********************************************************************************/
@@ -320,7 +320,7 @@ void Copter::do_RTL(void)
 void Copter::do_takeoff(const AP_Mission::Mission_Command& cmd)
 {
     // Set wp navigation target to safe altitude above current position
-    flightmode_auto.takeoff_start(cmd.content.location);
+    mode_auto.takeoff_start(cmd.content.location);
 }
 
 // do_nav_wp - initiate move to next waypoint
@@ -350,7 +350,7 @@ void Copter::do_nav_wp(const AP_Mission::Mission_Command& cmd)
     loiter_time_max = cmd.p1;
 
     // Set wp navigation target
-    flightmode_auto.wp_start(target_loc);
+    mode_auto.wp_start(target_loc);
 
     // if no delay set the waypoint as "fast"
     if (loiter_time_max == 0 ) {
@@ -391,13 +391,13 @@ void Copter::do_land(const AP_Mission::Mission_Command& cmd)
 
         Location_Class target_loc = terrain_adjusted_location(cmd);
 
-        flightmode_auto.wp_start(target_loc);
+        mode_auto.wp_start(target_loc);
     }else{
         // set landing state
         land_state = LandStateType_Descending;
 
         // initialise landing controller
-        flightmode_auto.land_start();
+        mode_auto.land_start();
     }
 }
 
@@ -411,12 +411,12 @@ void Copter::do_payload_place(const AP_Mission::Mission_Command& cmd)
 
         Location_Class target_loc = terrain_adjusted_location(cmd);
 
-        flightmode_auto.wp_start(target_loc);
+        mode_auto.wp_start(target_loc);
     } else {
         nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start;
 
         // initialise placing controller
-        flightmode_auto.payload_place_start();
+        mode_auto.payload_place_start();
     }
     nav_payload_place.descend_max = cmd.p1;
 }
@@ -452,7 +452,7 @@ void Copter::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
     }
 
     // start way point navigator and provide it the desired location
-    flightmode_auto.wp_start(target_loc);
+    mode_auto.wp_start(target_loc);
 }
 
 // do_circle - initiate moving in a circle
@@ -484,7 +484,7 @@ void Copter::do_circle(const AP_Mission::Mission_Command& cmd)
     uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
 
     // move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge
-    flightmode_auto.circle_movetoedge_start(circle_center, circle_radius_m);
+    mode_auto.circle_movetoedge_start(circle_center, circle_radius_m);
 }
 
 // do_loiter_time - initiate loitering at a point for a given time period
@@ -569,7 +569,7 @@ void Copter::do_spline_wp(const AP_Mission::Mission_Command& cmd)
     }
 
     // set spline navigation target
-    flightmode_auto.spline_start(target_loc, stopped_at_start, seg_end_type, next_loc);
+    mode_auto.spline_start(target_loc, stopped_at_start, seg_end_type, next_loc);
 }
 
 #if NAV_GUIDED == ENABLED
@@ -578,10 +578,10 @@ void Copter::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
 {
     if (cmd.p1 > 0) {
         // initialise guided limits
-        flightmode_guided.limit_init_time_and_pos();
+        mode_guided.limit_init_time_and_pos();
 
         // set spline navigation target
-        flightmode_auto.nav_guided_start();
+        mode_auto.nav_guided_start();
     }
 }
 #endif  // NAV_GUIDED
@@ -649,7 +649,7 @@ void Copter::do_gripper(const AP_Mission::Mission_Command& cmd)
 // do_guided_limits - pass guided limits to guided controller
 void Copter::do_guided_limits(const AP_Mission::Mission_Command& cmd)
 {
-    flightmode_guided.limit_set(cmd.p1 * 1000, // convert seconds to ms
+    mode_guided.limit_set(cmd.p1 * 1000, // convert seconds to ms
                      cmd.content.guided_limits.alt_min * 100.0f,    // convert meters to cm
                      cmd.content.guided_limits.alt_max * 100.0f,    // convert meters to cm
                      cmd.content.guided_limits.horiz_max * 100.0f); // convert meters to cm
@@ -703,7 +703,7 @@ bool Copter::verify_land()
                 Vector3f dest = wp_nav->get_wp_destination();
 
                 // initialise landing controller
-                flightmode_auto.land_start(dest);
+                mode_auto.land_start(dest);
 
                 // advance to next state
                 land_state = LandStateType_Descending;
@@ -866,7 +866,7 @@ bool Copter::verify_payload_place()
     case PayloadPlaceStateType_Ascending_Start: {
         Location_Class target_loc = inertial_nav.get_position();
         target_loc.alt = nav_payload_place.descend_start_altitude;
-        flightmode_auto.wp_start(target_loc);
+        mode_auto.wp_start(target_loc);
         nav_payload_place.state = PayloadPlaceStateType_Ascending;
         }
         FALLTHROUGH;
@@ -939,7 +939,7 @@ bool Copter::verify_loiter_time()
 bool Copter::verify_circle(const AP_Mission::Mission_Command& cmd)
 {
     // check if we've reached the edge
-    if (flightmode_auto.mode() == Auto_CircleMoveToEdge) {
+    if (mode_auto.mode() == Auto_CircleMoveToEdge) {
         if (wp_nav->reached_wp_destination()) {
             Vector3f curr_pos = inertial_nav.get_position();
             Vector3f circle_center = pv_location_to_vector(cmd.content.location);
@@ -956,7 +956,7 @@ bool Copter::verify_circle(const AP_Mission::Mission_Command& cmd)
             }
 
             // start circling
-            flightmode_auto.circle_start();
+            mode_auto.circle_start();
         }
         return false;
     }
@@ -970,7 +970,7 @@ bool Copter::verify_circle(const AP_Mission::Mission_Command& cmd)
 // returns true with RTL has completed successfully
 bool Copter::verify_RTL()
 {
-    return (flightmode_rtl.state_complete() && (flightmode_rtl.state() == RTL_FinalDescent || flightmode_rtl.state() == RTL_Land));
+    return (mode_rtl.state_complete() && (mode_rtl.state() == RTL_FinalDescent || mode_rtl.state() == RTL_Land));
 }
 
 // verify_spline_wp - check if we have reached the next way point using spline
@@ -1005,7 +1005,7 @@ bool Copter::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
     }
 
     // check time and position limits
-    return flightmode_guided.limit_check();
+    return mode_guided.limit_check();
 }
 #endif  // NAV_GUIDED
 
@@ -1091,7 +1091,7 @@ bool Copter::verify_yaw()
 bool Copter::do_guided(const AP_Mission::Mission_Command& cmd)
 {
     // only process guided waypoint if we are in guided mode
-    if (control_mode != GUIDED && !(control_mode == AUTO && flightmode_auto.mode() == Auto_NavGuided)) {
+    if (control_mode != GUIDED && !(control_mode == AUTO && mode_auto.mode() == Auto_NavGuided)) {
         return false;
     }
 
@@ -1102,7 +1102,7 @@ bool Copter::do_guided(const AP_Mission::Mission_Command& cmd)
         {
             // set wp_nav's destination
             Location_Class dest(cmd.content.location);
-            return flightmode_guided.set_destination(dest);
+            return mode_guided.set_destination(dest);
         }
 
         case MAV_CMD_CONDITION_YAW:

ArduCopter/ekf_check.cpp

@@ -175,7 +175,7 @@ void Copter::failsafe_ekf_event()
 
     // if flight mode is already LAND ensure it's not the GPS controlled LAND
     if (control_mode == LAND) {
-        flightmode_land.do_not_use_GPS();
+        mode_land.do_not_use_GPS();
     }
 }
 

ArduCopter/events.cpp

@@ -178,7 +178,7 @@ void Copter::failsafe_terrain_on_event()
     if (should_disarm_on_failsafe()) {
         init_disarm_motors();
     } else if (control_mode == RTL) {
-        flightmode_rtl.restart_without_terrain();
+        mode_rtl.restart_without_terrain();
     } else {
         set_mode_RTL_or_land_with_pause(MODE_REASON_TERRAIN_FAILSAFE);
     }

ArduCopter/flight_mode.cpp

@@ -6,87 +6,87 @@
  */
 
 // return the static controller object corresponding to supplied mode
-Copter::Mode *Copter::flightmode_for_mode(const uint8_t mode)
+Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
 {
     Copter::Mode *ret = nullptr;
 
     switch (mode) {
         case ACRO:
-            ret = &flightmode_acro;
+            ret = &mode_acro;
             break;
 
         case STABILIZE:
-            ret = &flightmode_stabilize;
+            ret = &mode_stabilize;
             break;
 
         case ALT_HOLD:
-            ret = &flightmode_althold;
+            ret = &mode_althold;
             break;
 
         case AUTO:
-            ret = &flightmode_auto;
+            ret = &mode_auto;
             break;
 
         case CIRCLE:
-            ret = &flightmode_circle;
+            ret = &mode_circle;
             break;
 
         case LOITER:
-            ret = &flightmode_loiter;
+            ret = &mode_loiter;
             break;
 
         case GUIDED:
-            ret = &flightmode_guided;
+            ret = &mode_guided;
             break;
 
         case LAND:
-            ret = &flightmode_land;
+            ret = &mode_land;
             break;
 
         case RTL:
-            ret = &flightmode_rtl;
+            ret = &mode_rtl;
             break;
 
         case DRIFT:
-            ret = &flightmode_drift;
+            ret = &mode_drift;
             break;
 
         case SPORT:
-            ret = &flightmode_sport;
+            ret = &mode_sport;
             break;
 
         case FLIP:
-            ret = &flightmode_flip;
+            ret = &mode_flip;
             break;
 
 #if AUTOTUNE_ENABLED == ENABLED
         case AUTOTUNE:
-            ret = &flightmode_autotune;
+            ret = &mode_autotune;
             break;
 #endif
 
         case POSHOLD:
-            ret = &flightmode_poshold;
+            ret = &mode_poshold;
             break;
 
         case BRAKE:
-            ret = &flightmode_brake;
+            ret = &mode_brake;
             break;
 
         case THROW:
-            ret = &flightmode_throw;
+            ret = &mode_throw;
             break;
 
         case AVOID_ADSB:
-            ret = &flightmode_avoid_adsb;
+            ret = &mode_avoid_adsb;
             break;
 
         case GUIDED_NOGPS:
-            ret = &flightmode_guided_nogps;
+            ret = &mode_guided_nogps;
             break;
 
         case SMART_RTL:
-            ret = &flightmode_smartrtl;
+            ret = &mode_smartrtl;
             break;
 
         default:
@@ -110,7 +110,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
         return true;
     }
 
-    Copter::Mode *new_flightmode = flightmode_for_mode(mode);
+    Copter::Mode *new_flightmode = mode_from_mode_num(mode);
     if (new_flightmode == nullptr) {
         gcs().send_text(MAV_SEVERITY_WARNING,"No such mode");
         Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
@@ -180,13 +180,13 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
                        Copter::Mode *&new_flightmode)
 {
 #if AUTOTUNE_ENABLED == ENABLED
-    if (old_flightmode == &flightmode_autotune) {
-        flightmode_autotune.stop();
+    if (old_flightmode == &mode_autotune) {
+        mode_autotune.stop();
     }
 #endif
 
     // stop mission when we leave auto mode
-    if (old_flightmode == &flightmode_auto) {
+    if (old_flightmode == &mode_auto) {
         if (mission.state() == AP_Mission::MISSION_RUNNING) {
             mission.stop();
         }
@@ -205,13 +205,13 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
     takeoff_stop();
 
     // call smart_rtl cleanup
-    if (old_flightmode == &flightmode_smartrtl) {
-        flightmode_smartrtl.exit();
+    if (old_flightmode == &mode_smartrtl) {
+        mode_smartrtl.exit();
     }
 
 #if FRAME_CONFIG == HELI_FRAME
     // firmly reset the flybar passthrough to false when exiting acro mode.
-    if (old_flightmode == &flightmode_acro) {
+    if (old_flightmode == &mode_acro) {
         attitude_control->use_flybar_passthrough(false, false);
         motors->set_acro_tail(false);
     }
@@ -220,9 +220,9 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
     // stab col ramp value should be pre-loaded to the correct value to avoid a twitch
     // heli_stab_col_ramp should really only be active switching between Stabilize and Acro modes
     if (!old_flightmode->has_manual_throttle()){
-        if (new_flightmode == &flightmode_stabilize){
+        if (new_flightmode == &mode_stabilize){
             input_manager.set_stab_col_ramp(1.0);
-        } else if (new_flightmode == &flightmode_acro){
+        } else if (new_flightmode == &mode_acro){
             input_manager.set_stab_col_ramp(0.0);
         }
     }

ArduCopter/heli.cpp

@@ -24,7 +24,7 @@ void Copter::heli_init()
 void Copter::check_dynamic_flight(void)
 {
     if (!motors->armed() || !motors->rotor_runup_complete() ||
-        control_mode == LAND || (control_mode==RTL && flightmode_rtl.state() == RTL_Land) || (control_mode == AUTO && flightmode_auto.mode() == Auto_Land)) {
+        control_mode == LAND || (control_mode==RTL && mode_rtl.state() == RTL_Land) || (control_mode == AUTO && mode_auto.mode() == Auto_Land)) {
         heli_dynamic_flight_counter = 0;
         heli_flags.dynamic_flight = false;
         return;
@@ -109,7 +109,7 @@ void Copter::heli_update_landing_swash()
 
         case RTL:
         case SMART_RTL:
-            if (flightmode_rtl.state() == RTL_Land) {
+            if (mode_rtl.state() == RTL_Land) {
                 motors->set_collective_for_landing(true);
             }else{
                 motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
@@ -117,7 +117,7 @@ void Copter::heli_update_landing_swash()
             break;
 
         case AUTO:
-            if (flightmode_auto.mode() == Auto_Land) {
+            if (mode_auto.mode() == Auto_Land) {
                 motors->set_collective_for_landing(true);
             }else{
                 motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);

ArduCopter/landing_gear.cpp

@@ -15,8 +15,8 @@ void Copter::landinggear_update()
     // if we are doing an automatic landing procedure, force the landing gear to deploy.
     // To-Do: should we pause the auto-land procedure to give time for gear to come down?
     if (control_mode == LAND ||
-       (control_mode == RTL && flightmode_rtl.landing_gear_should_be_deployed()) ||
-       (control_mode == AUTO && flightmode_auto.landing_gear_should_be_deployed())) {
+       (control_mode == RTL && mode_rtl.landing_gear_should_be_deployed()) ||
+       (control_mode == AUTO && mode_auto.landing_gear_should_be_deployed())) {
         landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
     }
 

ArduCopter/mode_auto.cpp

@@ -39,7 +39,7 @@ bool Copter::ModeAuto::init(bool ignore_checks)
         wp_nav->wp_and_spline_init();
 
         // clear guided limits
-        _copter.flightmode_guided.limit_clear();
+        _copter.mode_guided.limit_clear();
 
         // start/resume the mission (based on MIS_RESTART parameter)
         mission.start_or_resume();
@@ -417,7 +417,7 @@ bool Copter::ModeAuto::landing_gear_should_be_deployed()
     case Auto_Land:
         return true;
     case Auto_RTL:
-        switch(_copter.flightmode_rtl.state()) {
+        switch(_copter.mode_rtl.state()) {
         case RTL_LoiterAtHome:
         case RTL_Land:
         case RTL_FinalDescent:
@@ -438,7 +438,7 @@ void Copter::ModeAuto::rtl_start()
     _mode = Auto_RTL;
 
     // call regular rtl flight mode initialisation and ask it to ignore checks
-    _copter.flightmode_rtl.init(true);
+    _copter.mode_rtl.init(true);
 }
 
 // auto_rtl_run - rtl in AUTO flight mode
@@ -446,7 +446,7 @@ void Copter::ModeAuto::rtl_start()
 void Copter::ModeAuto::rtl_run()
 {
     // call regular rtl flight mode run function
-    _copter.flightmode_rtl.run(false);
+    _copter.mode_rtl.run(false);
 }
 
 // auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
@@ -534,10 +534,10 @@ void Copter::ModeAuto::nav_guided_start()
     _mode = Auto_NavGuided;
 
     // call regular guided flight mode initialisation
-    _copter.flightmode_guided.init(true);
+    _copter.mode_guided.init(true);
 
     // initialise guided start time and position as reference for limit checking
-    _copter.flightmode_guided.limit_init_time_and_pos();
+    _copter.mode_guided.limit_init_time_and_pos();
 }
 
 // auto_nav_guided_run - allows control by external navigation controller
@@ -545,7 +545,7 @@ void Copter::ModeAuto::nav_guided_start()
 void Copter::ModeAuto::nav_guided_run()
 {
     // call regular guided flight mode run function
-    _copter.flightmode_guided.run();
+    _copter.mode_guided.run();
 }
 #endif  // NAV_GUIDED
 

ArduCopter/mode_land.cpp

@@ -177,7 +177,7 @@ void Copter::land_run_vertical_control(bool pause_descent)
     // compute desired velocity
     const float precland_acceptable_error = 15.0f;
     const float precland_min_descent_speed = 10.0f;
-    int32_t alt_above_ground = flightmode_land.get_alt_above_ground();
+    int32_t alt_above_ground = mode_land.get_alt_above_ground();
 
     float cmb_rate = 0;
     if (!pause_descent) {
@@ -281,7 +281,7 @@ void Copter::land_run_horizontal_control()
         // there is any position estimate drift after touchdown. We
         // limit attitude to 7 degrees below this limit and linearly
         // interpolate for 1m above that
-        int alt_above_ground = flightmode_land.get_alt_above_ground();
+        int alt_above_ground = mode_land.get_alt_above_ground();
         float attitude_limit_cd = linear_interpolate(700, aparm.angle_max, alt_above_ground,
                                                      g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U);
         float total_angle_cd = norm(nav_roll, nav_pitch);

ArduCopter/motors.cpp

@@ -246,7 +246,7 @@ void Copter::init_disarm_motors()
 
 #if AUTOTUNE_ENABLED == ENABLED
     // save auto tuned parameters
-    flightmode_autotune.save_tuning_gains();
+    mode_autotune.save_tuning_gains();
 #endif
 
     // we are not in the air

ArduCopter/switches.cpp

@@ -562,10 +562,10 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
 #if PRECISION_LANDING == ENABLED
             switch (ch_flag) {
                 case AUX_SWITCH_HIGH:
-                    flightmode_loiter.set_precision_loiter_enabled(true);
+                    mode_loiter.set_precision_loiter_enabled(true);
                     break;
                 case AUX_SWITCH_LOW:
-                    flightmode_loiter.set_precision_loiter_enabled(false);
+                    mode_loiter.set_precision_loiter_enabled(false);
                     break;
             }
 #endif

ArduCopter/takeoff.cpp

@@ -36,7 +36,7 @@ bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
 
         switch(control_mode) {
             case GUIDED:
-                if (flightmode_guided.takeoff_start(takeoff_alt_cm)) {
+                if (mode_guided.takeoff_start(takeoff_alt_cm)) {
                     set_auto_armed(true);
                     return true;
                 }