Copter: rename manual_flight_mode to mode_has_manual_throttle

ArduCopter/GCS_Mavlink.pde

@@ -1175,7 +1175,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     AP_Notify::flags.arming_failed = true;  // init_arm_motors function will reset flag back to false
                     result = MAV_RESULT_UNSUPPORTED;
                 }
-            } else if (packet.param1 == 0.0f && (manual_flight_mode(control_mode) || ap.land_complete))  {
+            } else if (packet.param1 == 0.0f && (mode_has_manual_throttle(control_mode) || ap.land_complete))  {
                 init_disarm_motors();
                 result = MAV_RESULT_ACCEPTED;
             } else {

ArduCopter/fence.pde

@@ -30,7 +30,7 @@ void fence_check()
 
             // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
             // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
-            if (ap.land_complete || (manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
+            if (ap.land_complete || (mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
                 init_disarm_motors();
             }else{
                 // if we are within 100m of the fence, RTL

ArduCopter/flight_mode.pde

@@ -215,7 +215,7 @@ static void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
     }
 
     // smooth throttle transition when switching from manual to automatic flight modes
-    if (manual_flight_mode(old_control_mode) && !manual_flight_mode(new_control_mode) && motors.armed() && !ap.land_complete) {
+    if (mode_has_manual_throttle(old_control_mode) && !mode_has_manual_throttle(new_control_mode) && motors.armed() && !ap.land_complete) {
         // this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
         set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(g.rc_3.control_in));
     }
@@ -246,8 +246,8 @@ static bool mode_requires_GPS(uint8_t mode) {
     return false;
 }
 
-// manual_flight_mode - returns true if flight mode is completely manual (i.e. roll, pitch, yaw and throttle are controlled by pilot)
-static bool manual_flight_mode(uint8_t mode) {
+// mode_has_manual_throttle - returns true if the flight mode has a manual throttle (i.e. pilot directly controls throttle)
+static bool mode_has_manual_throttle(uint8_t mode) {
     switch(mode) {
         case ACRO:
         case STABILIZE:
@@ -262,7 +262,7 @@ static bool manual_flight_mode(uint8_t mode) {
 // mode_allows_arming - returns true if vehicle can be armed in the specified mode
 //  arming_from_gcs should be set to true if the arming request comes from the ground station
 static bool mode_allows_arming(uint8_t mode, bool arming_from_gcs) {
-    if (manual_flight_mode(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
+    if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
         return true;
     }
     return false;

ArduCopter/motors.pde

@@ -55,7 +55,7 @@ static void arm_motors_check()
 
     // full left
     }else if (tmp < -4000) {
-        if (!manual_flight_mode(control_mode) && !ap.land_complete) {
+        if (!mode_has_manual_throttle(control_mode) && !ap.land_complete) {
             arming_counter = 0;
             return;
         }
@@ -88,7 +88,7 @@ static void auto_disarm_check()
     }
 
     // allow auto disarm in manual flight modes or Loiter/AltHold if we're landed
-    if (manual_flight_mode(control_mode) || ap.land_complete) {
+    if (mode_has_manual_throttle(control_mode) || ap.land_complete) {
         auto_disarming_counter++;
 
         if(auto_disarming_counter >= AUTO_DISARMING_DELAY) {

ArduCopter/system.pde

@@ -368,7 +368,7 @@ static void update_auto_armed()
             return;
         }
         // if in stabilize or acro flight mode and throttle is zero, auto-armed should become false
-        if(manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio) {
+        if(mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio) {
             set_auto_armed(false);
         }
     }else{