FlightTaskManualAltitude: rename method from updateZsetpoints to updateAltitudeLock

src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp

@@ -67,11 +67,10 @@ void FlightTaskManualAltitude::_scaleSticks()
 	_vel_sp_z = vel_max_z * _sticks_expo(2);
 }
 
-void FlightTaskManualAltitude::_updateZsetpoints()
+void FlightTaskManualAltitude::_updateAltitudeLock()
 {
-	/* Depending on stick inputs, position is locked or
+	/* Depending on stick inputs and velocity, position is locked.
-	 * velocity setpoint is used. If not locked, position
+	 * If not locked, altitude setpoint is set to NAN.
-	 * setpoints is set to NAN.
 	 */
 
 	/* handle position and altitude hold */
@@ -104,7 +103,7 @@ void FlightTaskManualAltitude::_updateSetpoints()
 	_thr_sp(0) = sp(0);
 	_thr_sp(1) = sp(1);
 
-	_updateZsetpoints(); // get z setpoints
+	_updateAltitudeLock(); // get z setpoints
 }
 
 bool FlightTaskManualAltitude::update()

src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp

@@ -60,7 +60,7 @@ protected:
 	control::BlockParamFloat _vel_max_up; /**< Maximum speed allowed to go down. */
 	control::BlockParamFloat _vel_z_dz; /**< velocity threshold/deadzone to switch into vertical position hold */
 
-	void _updateZsetpoints(); /**< Sets position or velocity setpoints. */
+	void _updateAltitudeLock(); /**< Checks for position lock. */
 	void _updateSetpoints() override; /**< Updates all setpoints. */
 	void _scaleSticks() override; /**< Scales sticks to velocity in z. */
 

src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.cpp

@@ -62,8 +62,8 @@ void FlightTaskManualAltitudeSmooth::_updateSetpoints()
 	float vel_sp[2] = {_vel_sp_z, _vel_sp_prev_z};
 	_smoothing.smoothVelFromSticks(vel_sp, _deltatime);
 
-	/* Update position setpoint in z direction based on lock criteria*/
+	/* Check for altitude lock*/
-	_updateZsetpoints();
+	_updateAltitudeLock();
 
 	/* Update previous velocity setpoint for next smoothing iteration */
 	_vel_sp_prev_z = _vel_sp_z;