Plane: changed for AP_Vehicle API change

ArduPlane/ArduPlane.cpp

@@ -164,7 +164,7 @@ void Plane::ahrs_update()
     }
 
     // calculate a scaled roll limit based on current pitch
-    roll_limit_cd = g.roll_limit_cd * cosf(ahrs.pitch);
+    roll_limit_cd = aparm.roll_limit_cd * cosf(ahrs.pitch);
     pitch_limit_min_cd = aparm.pitch_limit_min_cd * fabsf(cosf(ahrs.roll));
 
     // updated the summed gyro used for ground steering and

ArduPlane/Parameters.cpp

@@ -736,7 +736,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Range: 0 9000
     // @Increment: 1
     // @User: Standard
-    GSCALAR(roll_limit_cd,          "LIM_ROLL_CD",    HEAD_MAX_CENTIDEGREE),
+    ASCALAR(roll_limit_cd,          "LIM_ROLL_CD",    HEAD_MAX_CENTIDEGREE),
 
     // @Param: LIM_PITCH_MAX
     // @DisplayName: Maximum Pitch Angle

ArduPlane/Parameters.h

@@ -449,7 +449,6 @@ public:
 
     // Navigational maneuvering limits
     //
-    AP_Int16 roll_limit_cd;
     AP_Int16 alt_offset;
     AP_Int16 acro_roll_rate;
     AP_Int16 acro_pitch_rate;

ArduPlane/arming_checks.cpp

@@ -30,9 +30,9 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
     // Check airspeed sensor
     ret &= AP_Arming::airspeed_checks(report);
 
-    if (plane.g.roll_limit_cd < 300) {
+    if (plane.aparm.roll_limit_cd < 300) {
         if (report) {
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.g.roll_limit_cd);
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd);
         }
         ret = false;        
     }