ArduCopter: params always use set method

ArduCopter/Attitude.cpp

@@ -58,7 +58,7 @@ float Copter::get_pilot_desired_climb_rate(float throttle_control)
     throttle_control = constrain_float(throttle_control,0.0f,1000.0f);
 
     // ensure a reasonable deadzone
-    g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400);
+    g.throttle_deadzone.set(constrain_int16(g.throttle_deadzone, 0, 400));
 
     float desired_rate = 0.0f;
     const float mid_stick = get_throttle_mid();

ArduCopter/RC_Channel.cpp

@@ -268,15 +268,15 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
 #if MODE_ACRO_ENABLED == ENABLED
             switch(ch_flag) {
                 case AuxSwitchPos::LOW:
-                    copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::OFF;
+                    copter.g.acro_trainer.set((uint8_t)ModeAcro::Trainer::OFF);
                     AP::logger().Write_Event(LogEvent::ACRO_TRAINER_OFF);
                     break;
                 case AuxSwitchPos::MIDDLE:
-                    copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::LEVELING;
+                    copter.g.acro_trainer.set((uint8_t)ModeAcro::Trainer::LEVELING);
                     AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LEVELING);
                     break;
                 case AuxSwitchPos::HIGH:
-                    copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::LIMITED;
+                    copter.g.acro_trainer.set((uint8_t)ModeAcro::Trainer::LIMITED);
                     AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LIMITED);
                     break;
             }

ArduCopter/compassmot.cpp

@@ -102,7 +102,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
     }
 
     // disable throttle failsafe
-    g.failsafe_throttle = FS_THR_DISABLED;
+    g.failsafe_throttle.set(FS_THR_DISABLED);
 
     // disable motor compensation
     compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);

ArduCopter/mode.h

@@ -1505,7 +1505,7 @@ public:
     bool is_autopilot() const override { return false; }
     bool logs_attitude() const override { return true; }
 
-    void set_magnitude(float input) { waveform_magnitude = input; }
+    void set_magnitude(float input) { waveform_magnitude.set(input); }
 
     static const struct AP_Param::GroupInfo var_info[];
 

ArduCopter/mode_turtle.cpp

@@ -29,9 +29,9 @@ bool ModeTurtle::init(bool ignore_checks)
     change_motor_direction(true);
 
     // disable throttle and gps failsafe
-    g.failsafe_throttle = FS_THR_DISABLED;
-    g.failsafe_gcs = FS_GCS_DISABLED;
-    g.fs_ekf_action = 0;
+    g.failsafe_throttle.set(FS_THR_DISABLED);
+    g.failsafe_gcs.set(FS_GCS_DISABLED);
+    g.fs_ekf_action.set(0);
 
     // arm
     motors->armed(true);

ArduCopter/motor_test.cpp

@@ -159,9 +159,9 @@ MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t
             }
 
             // disable throttle and gps failsafe
-            g.failsafe_throttle = FS_THR_DISABLED;
-            g.failsafe_gcs = FS_GCS_DISABLED;
-            g.fs_ekf_action = 0;
+            g.failsafe_throttle.set(FS_THR_DISABLED);
+            g.failsafe_gcs.set(FS_GCS_DISABLED);
+            g.fs_ekf_action.set(0);
 
             // turn on notify leds
             AP_Notify::flags.esc_calibration = true;