Copter: remove surface tracking shim functions

ArduCopter/mode.cpp

@@ -687,22 +687,6 @@ Copter::Mode::AltHoldModeState Copter::Mode::get_alt_hold_state(float target_cli
 // pass-through functions to reduce code churn on conversion;
 // these are candidates for moving into the Mode base
 // class.
-
-float Copter::Mode::get_surface_tracking_climb_rate(int16_t target_rate)
-{
-    return copter.get_surface_tracking_climb_rate(target_rate);
-}
-
-bool Copter::Mode::get_surface_tracking_target_alt_cm(float &target_alt_cm) const
-{
-    return copter.get_surface_tracking_target_alt_cm(target_alt_cm);
-}
-
-void Copter::Mode::set_surface_tracking_target_alt_cm(float target_alt_cm)
-{
-   copter.set_surface_tracking_target_alt_cm(target_alt_cm);
-}
-
 float Copter::Mode::get_pilot_desired_yaw_rate(int16_t stick_angle)
 {
     return copter.get_pilot_desired_yaw_rate(stick_angle);

ArduCopter/mode.h

@@ -197,9 +197,6 @@ protected:
     // pass-through functions to reduce code churn on conversion;
     // these are candidates for moving into the Mode base
     // class.
-    float get_surface_tracking_climb_rate(int16_t target_rate);
-    bool get_surface_tracking_target_alt_cm(float &target_alt_cm) const;
-    void set_surface_tracking_target_alt_cm(float target_alt_cm);
     float get_pilot_desired_yaw_rate(int16_t stick_angle);
     float get_pilot_desired_climb_rate(float throttle_control);
     float get_pilot_desired_throttle() const;

ArduCopter/mode_althold.cpp

@@ -96,7 +96,7 @@ void Copter::ModeAltHold::run()
 #endif
 
         // adjust climb rate using rangefinder
-        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate);
+        target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
 
         // get avoidance adjusted climb rate
         target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);

ArduCopter/mode_circle.cpp

@@ -44,7 +44,7 @@ void Copter::ModeCircle::run()
     // adjust climb rate using rangefinder
     if (copter.rangefinder_alt_ok()) {
         // if rangefinder is ok, use surface tracking
-        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate);
+        target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
     }
 
     // if not armed set throttle to zero and exit immediately

ArduCopter/mode_flowhold.cpp

@@ -300,7 +300,7 @@ void Copter::ModeFlowHold::run()
         copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
         // adjust climb rate using rangefinder
-        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate);
+        target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
 
         // get avoidance adjusted climb rate
         target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);

ArduCopter/mode_loiter.cpp

@@ -187,7 +187,7 @@ void Copter::ModeLoiter::run()
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
 
         // adjust climb rate using rangefinder
-        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate);
+        target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
 
         // get avoidance adjusted climb rate
         target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);

ArduCopter/mode_poshold.cpp

@@ -234,7 +234,7 @@ void Copter::ModePosHold::run()
         // adjust climb rate using rangefinder
         if (copter.rangefinder_alt_ok()) {
             // if rangefinder is ok, use surface tracking
-            target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate);
+            target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
         }
 
         // get avoidance adjusted climb rate

ArduCopter/mode_sport.cpp

@@ -121,7 +121,7 @@ void Copter::ModeSport::run()
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
         // adjust climb rate using rangefinder
-        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate);
+        target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
 
         // get avoidance adjusted climb rate
         target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);

ArduCopter/mode_zigzag.cpp

@@ -125,7 +125,7 @@ void Copter::ModeZigZag::return_to_manual_control(bool maintain_target)
         const Vector3f wp_dest = wp_nav->get_wp_destination();
         loiter_nav->init_target(wp_dest);
         if (maintain_target && wp_nav->origin_and_destination_are_terrain_alt()) {
-            set_surface_tracking_target_alt_cm(wp_dest.z);
+            copter.set_surface_tracking_target_alt_cm(wp_dest.z);
         }
         gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: manual control");
     }
@@ -200,7 +200,7 @@ void Copter::ModeZigZag::manual_control()
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
 
     // adjust climb rate using rangefinder
-    target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate);
+    target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate);
 
     // get avoidance adjusted climb rate
     target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
@@ -283,7 +283,7 @@ bool Copter::ModeZigZag::calculate_next_dest(uint8_t dest_num, bool use_wpnav_al
         // if we have a downward facing range finder then use terrain altitude targets
         terrain_alt = copter.rangefinder_alt_ok() && wp_nav->rangefinder_used();
         if (terrain_alt) {
-            if (!get_surface_tracking_target_alt_cm(next_dest.z)) {
+            if (!copter.get_surface_tracking_target_alt_cm(next_dest.z)) {
                 next_dest.z = copter.rangefinder_state.alt_cm_filt.get();
             }
         } else {