Plane: Rename rc failsafe state members

ArduPlane/ArduPlane.cpp

@@ -686,7 +686,7 @@ void Plane::update_flight_mode(void)
         if (fly_inverted()) {
             nav_pitch_cd = -nav_pitch_cd;
         }
-        if (failsafe.ch3_failsafe && g.short_fs_action == 2) {
+        if (failsafe.rc_failsafe && g.short_fs_action == 2) {
             // FBWA failsafe glide
             nav_roll_cd = 0;
             nav_pitch_cd = 0;

ArduPlane/Attitude.cpp

@@ -49,7 +49,7 @@ bool Plane::stick_mixing_enabled(void)
         }
     }
 
-    if (failsafe.ch3_failsafe && g.short_fs_action == 2) {
+    if (failsafe.rc_failsafe && g.short_fs_action == 2) {
         // don't do stick mixing in FBWA glide mode
         return false;
     }

ArduPlane/Plane.h

@@ -323,7 +323,7 @@ private:
     struct {
         // Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
         // RC receiver should be set up to output a low throttle value when signal is lost
-        uint8_t ch3_failsafe:1;
+        uint8_t rc_failsafe:1;
 
         // has the saved mode for failsafe been set?
         uint8_t saved_mode_set:1;
@@ -341,14 +341,14 @@ private:
         // Used for failsafe based on loss of RC signal or GCS signal
         int16_t state;
 
-        // number of low ch3 values
+        // number of low throttle values
-        uint8_t ch3_counter;
+        uint8_t throttle_counter;
 
         // the time when the last HEARTBEAT message arrived from a GCS
         uint32_t last_heartbeat_ms;
         
         // A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal
-        uint32_t ch3_timer_ms;
+        uint32_t short_timer_ms;
         
         uint32_t last_valid_rc_ms;
 

ArduPlane/control_modes.cpp

@@ -9,8 +9,8 @@ void Plane::read_control_switch()
     // If we get this value we do not want to change modes.
     if(switchPosition == 255) return;
 
-    if (failsafe.ch3_failsafe || failsafe.ch3_counter > 0) {
+    if (failsafe.rc_failsafe || failsafe.throttle_counter > 0) {
-        // when we are in ch3_failsafe mode then RC input is not
+        // when we are in rc_failsafe mode then RC input is not
         // working, and we need to ignore the mode switch channel
         return;
     }

ArduPlane/events.cpp

@@ -4,7 +4,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, mode_reason_t re
 {
     // This is how to handle a short loss of control signal failsafe.
     failsafe.state = fstype;
-    failsafe.ch3_timer_ms = millis();
+    failsafe.short_timer_ms = millis();
     gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on: type=%u/reason=%u", fstype, reason);
     switch(control_mode)
     {

ArduPlane/quadplane.cpp

@@ -1064,7 +1064,7 @@ float QuadPlane::get_desired_yaw_rate_cds(void)
 // get pilot desired climb rate in cm/s
 float QuadPlane::get_pilot_desired_climb_rate_cms(void)
 {
-    if (plane.failsafe.ch3_failsafe || plane.failsafe.ch3_counter > 0) {
+    if (plane.failsafe.rc_failsafe || plane.failsafe.throttle_counter > 0) {
         // descend at 0.5m/s for now
         return -50;
     }
@@ -1461,8 +1461,8 @@ void QuadPlane::update(void)
     // disable throttle_wait when throttle rises above 10%
     if (throttle_wait &&
         (plane.channel_throttle->get_control_in() > 10 ||
-         plane.failsafe.ch3_failsafe ||
+         plane.failsafe.rc_failsafe ||
-         plane.failsafe.ch3_counter>0)) {
+         plane.failsafe.throttle_counter>0)) {
         throttle_wait = false;
     }
 

ArduPlane/radio.cpp

@@ -176,7 +176,7 @@ void Plane::read_radio()
         return;
     }
 
-    if(!failsafe.ch3_failsafe)
+    if(!failsafe.rc_failsafe)
     {
         failsafe.AFS_last_valid_rc_ms = millis();
     }
@@ -264,27 +264,27 @@ void Plane::control_failsafe(uint16_t pwm)
         if (rc_failsafe_active()) {
             // we detect a failsafe from radio
             // throttle has dropped below the mark
-            failsafe.ch3_counter++;
+            failsafe.throttle_counter++;
-            if (failsafe.ch3_counter == 10) {
+            if (failsafe.throttle_counter == 10) {
                 gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on %u", (unsigned)pwm);
-                failsafe.ch3_failsafe = true;
+                failsafe.rc_failsafe = true;
                 AP_Notify::flags.failsafe_radio = true;
             }
-            if (failsafe.ch3_counter > 10) {
+            if (failsafe.throttle_counter > 10) {
-                failsafe.ch3_counter = 10;
+                failsafe.throttle_counter = 10;
             }
 
-        }else if(failsafe.ch3_counter > 0) {
+        }else if(failsafe.throttle_counter > 0) {
             // we are no longer in failsafe condition
             // but we need to recover quickly
-            failsafe.ch3_counter--;
+            failsafe.throttle_counter--;
-            if (failsafe.ch3_counter > 3) {
+            if (failsafe.throttle_counter > 3) {
-                failsafe.ch3_counter = 3;
+                failsafe.throttle_counter = 3;
             }
-            if (failsafe.ch3_counter == 1) {
+            if (failsafe.throttle_counter == 1) {
                 gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe off %u", (unsigned)pwm);
-            } else if(failsafe.ch3_counter == 0) {
+            } else if(failsafe.throttle_counter == 0) {
-                failsafe.ch3_failsafe = false;
+                failsafe.rc_failsafe = false;
                 AP_Notify::flags.failsafe_radio = false;
             }
         }

ArduPlane/servos.cpp

@@ -359,7 +359,7 @@ void Plane::set_servos_controlled(void)
                 control_mode == ACRO ||
                 control_mode == FLY_BY_WIRE_A ||
                 control_mode == AUTOTUNE) &&
-               !failsafe.ch3_counter) {
+               !failsafe.throttle_counter) {
         // manual pass through of throttle while in FBWA or
         // STABILIZE mode with THR_PASS_STAB set
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz());
@@ -392,7 +392,7 @@ void Plane::set_servos_flaps(void)
 
     // work out any manual flap input
     RC_Channel *flapin = RC_Channels::rc_channel(g.flapin_channel-1);
-    if (flapin != nullptr && !failsafe.ch3_failsafe && failsafe.ch3_counter == 0) {
+    if (flapin != nullptr && !failsafe.rc_failsafe && failsafe.throttle_counter == 0) {
         flapin->input();
         manual_flap_percent = flapin->percent_input();
     }

ArduPlane/system.cpp

@@ -482,9 +482,9 @@ void Plane::check_long_failsafe()
         uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms;
         if (failsafe.state == FAILSAFE_SHORT) {
             // time is relative to when short failsafe enabled
-            radio_timeout_ms = failsafe.ch3_timer_ms;
+            radio_timeout_ms = failsafe.short_timer_ms;
         }
-        if (failsafe.ch3_failsafe &&
+        if (failsafe.rc_failsafe &&
             (tnow - radio_timeout_ms) > g.long_fs_timeout*1000) {
             failsafe_long_on_event(FAILSAFE_LONG, MODE_REASON_RADIO_FAILSAFE);
         } else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_AUTO && control_mode == AUTO &&
@@ -511,7 +511,7 @@ void Plane::check_long_failsafe()
             (tnow - failsafe.last_heartbeat_ms) < timeout_seconds*1000) {
             failsafe_long_off_event(MODE_REASON_GCS_FAILSAFE);
         } else if (failsafe.state == FAILSAFE_LONG && 
-                   !failsafe.ch3_failsafe) {
+                   !failsafe.rc_failsafe) {
             failsafe_long_off_event(MODE_REASON_RADIO_FAILSAFE);
         }
     }
@@ -524,14 +524,14 @@ void Plane::check_short_failsafe()
     if (g.short_fs_action != SHORT_FS_ACTION_DISABLED &&
        failsafe.state == FAILSAFE_NONE &&
        flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
-        // The condition is checked and the flag ch3_failsafe is set in radio.cpp
+        // The condition is checked and the flag rc_failsafe is set in radio.cpp
-        if(failsafe.ch3_failsafe) {
+        if(failsafe.rc_failsafe) {
             failsafe_short_on_event(FAILSAFE_SHORT, MODE_REASON_RADIO_FAILSAFE);
         }
     }
 
     if(failsafe.state == FAILSAFE_SHORT) {
-        if(!failsafe.ch3_failsafe || g.short_fs_action == SHORT_FS_ACTION_DISABLED) {
+        if(!failsafe.rc_failsafe || g.short_fs_action == SHORT_FS_ACTION_DISABLED) {
             failsafe_short_off_event(MODE_REASON_RADIO_FAILSAFE);
         }
     }