From b3bca271d4500cc2b66e1fca22617284c1ac343f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 10 May 2013 12:06:29 +0900
Subject: [PATCH] Copter: rename verify_must to verify_nav_command

Perhaps easier to understand if we use the "nav" and "conditional"
command labels
---
 ArduCopter/commands_logic.pde   | 11 +++++++----
 ArduCopter/commands_process.pde |  4 ++--
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 31b8bd25df..2a71e3f6d0 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -47,6 +47,7 @@ static void process_nav_command()
 
 }
 
+// process_cond_command - main switch statement to initiate the next conditional command in the command_cond_queue
 static void process_cond_command()
 {
     switch(command_cond_queue.id) {
@@ -72,6 +73,8 @@ static void process_cond_command()
     }
 }
 
+// process_now_command - main switch statement to initiate the next now command in the command_cond_queue
+// now commands are conditional commands that are executed immediately so they do not require a corresponding verify to be run later
 static void process_now_command()
 {
     switch(command_cond_queue.id) {
@@ -136,9 +139,9 @@ static void process_now_command()
 // Verify command Handlers
 /********************************************************************************/
 
-// verify_must - switch statement to ensure the active navigation command is progressing
+// verify_nav_command - switch statement to ensure the active navigation command is progressing
 // returns true once the active navigation command completes successfully
-static bool verify_must()
+static bool verify_nav_command()
 {
     switch(command_nav_queue.id) {
 
@@ -181,9 +184,9 @@ static bool verify_must()
     }
 }
 
-// verify_may - switch statement to ensure the active conditional command is progressing
+// verify_cond_command - switch statement to ensure the active conditional command is progressing
 // returns true once the active conditional command completes successfully
-static bool verify_may()
+static bool verify_cond_command()
 {
     switch(command_cond_queue.id) {
 
diff --git a/ArduCopter/commands_process.pde b/ArduCopter/commands_process.pde
index 550546b233..99f0bf6bc1 100644
--- a/ArduCopter/commands_process.pde
+++ b/ArduCopter/commands_process.pde
@@ -145,7 +145,7 @@ static void execute_nav_command(void)
 static void verify_commands(void)
 {
     // check if navigation command completed
-    if(verify_must()) {
+    if(verify_nav_command()) {
         // clear navigation command queue so next command can be loaded
         command_nav_queue.id    = NO_COMMAND;
 
@@ -158,7 +158,7 @@ static void verify_commands(void)
     }
 
     // check if conditional command completed
-    if(verify_may()) {
+    if(verify_cond_command()) {
         // clear conditional command queue so next command can be loaded
         command_cond_queue.id = NO_COMMAND;
     }