Plane: Cope with AC_PosControl renaming

ArduPlane/quadplane.cpp

@@ -755,8 +755,8 @@ void QuadPlane::run_z_controller(void)
         pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
 
         // initialize vertical speeds and leash lengths
-        pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
-        pos_control->set_accel_z(pilot_accel_z);
+        pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
+        pos_control->set_max_accel_z(pilot_accel_z);
         
         // it has been two seconds since we last ran the Z
         // controller. We need to assume the integrator may be way off
@@ -790,8 +790,8 @@ void QuadPlane::check_attitude_relax(void)
 void QuadPlane::init_hover(void)
 {
     // initialize vertical speeds and leash lengths
-    pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
-    pos_control->set_accel_z(pilot_accel_z);
+    pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
+    pos_control->set_max_accel_z(pilot_accel_z);
 
     // initialise position and desired velocity
     set_alt_target_current();
@@ -823,8 +823,8 @@ void QuadPlane::hold_hover(float target_climb_rate)
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // initialize vertical speeds and acceleration
-    pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
-    pos_control->set_accel_z(pilot_accel_z);
+    pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
+    pos_control->set_max_accel_z(pilot_accel_z);
 
     // call attitude controller
     multicopter_attitude_rate_update(get_desired_yaw_rate_cds());
@@ -855,8 +855,8 @@ void QuadPlane::init_loiter(void)
     loiter_nav->init_target();
 
     // initialize vertical speed and acceleration
-    pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
-    pos_control->set_accel_z(pilot_accel_z);
+    pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
+    pos_control->set_max_accel_z(pilot_accel_z);
 
     // initialise position and desired velocity
     set_alt_target_current();
@@ -984,8 +984,8 @@ void QuadPlane::control_loiter()
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // initialize vertical speed and acceleration
-    pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
-    pos_control->set_accel_z(pilot_accel_z);
+    pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
+    pos_control->set_max_accel_z(pilot_accel_z);
 
     // process pilot's roll and pitch input
     loiter_nav->set_pilot_desired_acceleration(plane.channel_roll->get_control_in(),
@@ -1970,8 +1970,8 @@ void QuadPlane::setup_target_position(void)
     last_loiter_ms = now;
     
     // setup vertical speed and acceleration
-    pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
-    pos_control->set_accel_z(pilot_accel_z);
+    pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
+    pos_control->set_max_accel_z(pilot_accel_z);
 }
 
 /*
@@ -2129,8 +2129,8 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
     loiter_nav->init_target();
 
     // initialize vertical speed and acceleration
-    pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
-    pos_control->set_accel_z(pilot_accel_z);
+    pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
+    pos_control->set_max_accel_z(pilot_accel_z);
 
     // initialise position and desired velocity
     set_alt_target_current();