From 4408f01f39349a3cc93ad5c27f200fd70b96a63a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 10 Jun 2015 10:16:52 +0900
Subject: [PATCH] Copter: rename ekf_check_thresh to fs_ekf_thresh

---
 ArduCopter/Parameters.cpp | 10 +++++-----
 ArduCopter/Parameters.h   |  4 ++--
 ArduCopter/config.h       |  6 +++---
 ArduCopter/ekf_check.cpp  |  6 +++---
 4 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 292e47d6d0..8708a38d6f 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -479,12 +479,12 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(land_repositioning, "LAND_REPOSITION",     LAND_REPOSITION_DEFAULT),
 
-    // @Param: EKF_CHECK_THRESH
-    // @DisplayName: EKF check compass and velocity variance threshold
-    // @Description: Allows setting the maximum acceptable compass and velocity variance (0 to disable check)
-    // @Values: 0:Disabled, 0.6:Strict, 0.8:Default, 1.0:Relaxed
+    // @Param: FS_EKF_THRESH
+    // @DisplayName: EKF failsafe variance threshold
+    // @Description: Allows setting the maximum acceptable compass and velocity variance
+    // @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
     // @User: Advanced
-    GSCALAR(ekfcheck_thresh, "EKF_CHECK_THRESH",    EKFCHECK_THRESHOLD_DEFAULT),
+    GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH",    FS_EKF_THRESHOLD_DEFAULT),
 
 #if FRAME_CONFIG ==     HELI_FRAME
     // @Group: HS1_
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 9d33aa272b..6eefa9b000 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -120,7 +120,7 @@ public:
         k_param_serial2_baud,           // deprecated - remove
         k_param_land_repositioning,
         k_param_sonar, // sonar object
-        k_param_ekfcheck_thresh,
+        k_param_fs_ekf_thresh,
         k_param_terrain,
         k_param_acro_expo,
         k_param_throttle_deadzone,
@@ -414,7 +414,7 @@ public:
     AP_Int8         arming_check;
 
     AP_Int8         land_repositioning;
-    AP_Float        ekfcheck_thresh;
+    AP_Float        fs_ekf_thresh;
     AP_Int16        gcs_pid_mask;
 
 #if FRAME_CONFIG ==     HELI_FRAME
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 526d5b2ed0..e48d6de168 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -269,9 +269,9 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-//  EKF Checker
-#ifndef EKFCHECK_THRESHOLD_DEFAULT
- # define EKFCHECK_THRESHOLD_DEFAULT    0.8f    // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad
+//  EKF Failsafe
+#ifndef FS_EKF_THRESHOLD_DEFAULT
+ # define FS_EKF_THRESHOLD_DEFAULT      0.8f    // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
 #endif
 
 #ifndef EKF_ORIGIN_MAX_DIST_M
diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index ad191fd44c..ea98857b80 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -31,7 +31,7 @@ static struct {
 void Copter::ekf_check()
 {
     // return immediately if motors are not armed, ekf check is disabled, not using ekf or usb is connected
-    if (!motors.armed() || ap.usb_connected || (g.ekfcheck_thresh <= 0.0f)) {
+    if (!motors.armed() || ap.usb_connected || (g.fs_ekf_thresh <= 0.0f)) {
         ekf_check_state.fail_count = 0;
         ekf_check_state.bad_variance = false;
         AP_Notify::flags.ekf_bad = ekf_check_state.bad_variance;
@@ -87,7 +87,7 @@ bool Copter::ekf_over_threshold()
 {
 #if AP_AHRS_NAVEKF_AVAILABLE
     // return false immediately if disabled
-    if (g.ekfcheck_thresh <= 0.0f) {
+    if (g.fs_ekf_thresh <= 0.0f) {
         return false;
     }
 
@@ -106,7 +106,7 @@ bool Copter::ekf_over_threshold()
     compass_variance = magVar.length();
 
     // return true if compass and velocity variance over the threshold
-    return (compass_variance >= g.ekfcheck_thresh && vel_variance >= g.ekfcheck_thresh);
+    return (compass_variance >= g.fs_ekf_thresh && vel_variance >= g.fs_ekf_thresh);
 #else
     return false;
 #endif