Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND

this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT

ArduPlane/ArduPlane.cpp

@@ -543,7 +543,7 @@ void Plane::handle_auto_mode(void)
     if (quadplane.in_vtol_auto()) {
         quadplane.control_auto(next_WP_loc);
     } else if (nav_cmd_id == MAV_CMD_NAV_TAKEOFF ||
-        (nav_cmd_id == MAV_CMD_NAV_LAND && flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT)) {
+        (nav_cmd_id == MAV_CMD_NAV_LAND && flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND)) {
         takeoff_calc_roll();
         takeoff_calc_pitch();
         calc_throttle();
@@ -892,7 +892,7 @@ void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
 #endif
         break;
 
-    case AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT:
+    case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND:
         gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
         landing.in_progress = false;
         break;
@@ -974,12 +974,12 @@ void Plane::update_flight_stage(void)
                 set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_TAKEOFF);
             } else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND) {
 
-                if (landing.is_commanded_go_around() || flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+                if (landing.is_commanded_go_around() || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
                     // abort mode is sticky, it must complete while executing NAV_LAND
-                    set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT);
+                    set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
                 } else if (landing.get_abort_throttle_enable() && channel_throttle->get_control_in() >= 90) {
                     plane.gcs_send_text(MAV_SEVERITY_INFO,"Landing aborted via throttle");
-                    set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT);
+                    set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
                 } else if (landing.is_complete()) {
                     set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND_FINAL);
                 } else if (landing.pre_flare == true) {

ArduPlane/Attitude.cpp

@@ -494,7 +494,7 @@ void Plane::calc_nav_yaw_ground(void)
     if (gps.ground_speed() < 1 && 
         channel_throttle->get_control_in() == 0 &&
         flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF &&
-        flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+        flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
         // manual rudder control while still
         steer_state.locked_course = false;
         steer_state.locked_course_err = 0;
@@ -504,7 +504,7 @@ void Plane::calc_nav_yaw_ground(void)
 
     float steer_rate = (rudder_input/4500.0f) * g.ground_steer_dps;
     if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF ||
-        flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+        flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
         steer_rate = 0;
     }
     if (!is_zero(steer_rate)) {
@@ -514,7 +514,7 @@ void Plane::calc_nav_yaw_ground(void)
         // pilot has released the rudder stick or we are still - lock the course
         steer_state.locked_course = true;
         if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF &&
-            flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+            flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
             steer_state.locked_course_err = 0;
         }
     }

ArduPlane/is_flying.cpp

@@ -99,7 +99,7 @@ void Plane::update_is_flying_5Hz(void)
             case AP_Vehicle::FixedWing::FLIGHT_LAND_FINAL:
                 break;
 
-            case AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT:
+            case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND:
                 if (auto_state.sink_rate < -0.5f) {
                     // steep climb
                     is_flying_bool = true;

ArduPlane/servos.cpp

@@ -469,7 +469,7 @@ void Plane::set_servos_controlled(void)
             min_throttle = 0;
         }
         
-        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
             if(aparm.takeoff_throttle_max != 0) {
                 max_throttle = aparm.takeoff_throttle_max;
             } else {
@@ -560,7 +560,7 @@ void Plane::set_servos_flaps(void)
         if (control_mode == AUTO) {
             switch (flight_stage) {
             case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF:
-            case AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT:
+            case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND:
                 if (g.takeoff_flap_percent != 0) {
                     auto_flap_percent = g.takeoff_flap_percent;
                 }

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -35,11 +35,9 @@ bool AP_Landing::type_slope_verify_land(const AP_Vehicle::FixedWing::FlightStage
 
     // when aborting a landing, mimic the verify_takeoff with steering hold. Once
     // the altitude has been reached, restart the landing sequence
-    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
 
         throttle_suppressed = false;
-
-
         complete = false;
         pre_flare = false;
         nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));

libraries/AP_TECS/AP_TECS.cpp

@@ -658,7 +658,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
         // Calculate integrator state, constraining state
         // Set integrator to a max throttle value during climbout
         _integTHR_state = _integTHR_state + (_STE_error * _get_i_gain()) * _DT * K_STE2Thr;
-        if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT)
+        if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND)
         {
             if (!_flags.reached_speed_takeoff) {
                 // ensure we run at full throttle until we reach the target airspeed
@@ -768,7 +768,7 @@ void AP_TECS::_update_pitch(void)
     float SKE_weighting = constrain_float(_spdWeight, 0.0f, 2.0f);
     if (!_ahrs.airspeed_sensor_enabled()) {
         SKE_weighting = 0.0f;
-    } else if ( _flags.underspeed || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+    } else if ( _flags.underspeed || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
         SKE_weighting = 2.0f;
     } else if (_flags.is_doing_auto_land) {
         if (_spdWeightLand < 0) {
@@ -832,7 +832,7 @@ void AP_TECS::_update_pitch(void)
     }
     temp += SEBdot_error * pitch_damp;
 
-    if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+    if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
         temp += _PITCHminf * gainInv;
     }
     float integSEB_min = (gainInv * (_PITCHminf - 0.0783f)) - temp;
@@ -895,7 +895,7 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
         _DT                = 0.1f; // when first starting TECS, use a
         // small time constant
     }
-    else if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT)
+    else if (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND)
     {
         _PITCHminf          = 0.000174533f * ptchMinCO_cd;
         _hgt_dem_adj_last  = hgt_afe;
@@ -907,7 +907,7 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
         _flags.badDescent  = false;
     }
     
-    if (_flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF && _flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+    if (_flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF && _flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
         // reset takeoff speed flag when not in takeoff
         _flags.reached_speed_takeoff = false;        
     }
@@ -948,7 +948,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
     _update_speed(load_factor);
 
     if (aparm.takeoff_throttle_max != 0 &&
-            (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT)) {
+            (_flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || _flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND)) {
         _THRmaxf  = aparm.takeoff_throttle_max * 0.01f;
     } else {
         _THRmaxf  = aparm.throttle_max * 0.01f;
@@ -1010,7 +1010,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
         }
     }
 
-    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
+    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
         if (!_flags.reached_speed_takeoff && _TAS_state >= _TAS_dem_adj) {
             // we have reached our target speed in takeoff, allow for
             // normal throttle control

libraries/AP_Vehicle/AP_Vehicle.h

@@ -67,7 +67,7 @@ public:
             FLIGHT_LAND_APPROACH = 4,
             FLIGHT_LAND_PREFLARE = 5,
             FLIGHT_LAND_FINAL    = 6,
-            FLIGHT_LAND_ABORT    = 7
+            FLIGHT_ABORT_LAND    = 7
         };
     };