Global: rename desired to target in PID info

APMrover2/GCS_Mavlink.cpp

@@ -192,7 +192,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
     if (g.gcs_pid_mask & 1) {
         pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
-                                    degrees(pid_info->desired),
+                                    degrees(pid_info->target),
                                     degrees(ahrs.get_yaw_rate_earth()),
                                     pid_info->FF,
                                     pid_info->P,
@@ -209,7 +209,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
         float speed = 0.0f;
         g2.attitude_control.get_forward_speed(speed);
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
-                                    pid_info->desired,
+                                    pid_info->target,
                                     speed,
                                     0,
                                     pid_info->P,
@@ -224,7 +224,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
     if (g.gcs_pid_mask & 4) {
         pid_info = &g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
-                                    degrees(pid_info->desired),
+                                    degrees(pid_info->target),
                                     degrees(ahrs.pitch),
                                     pid_info->FF,
                                     pid_info->P,
@@ -239,7 +239,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
     if (g.gcs_pid_mask & 8) {
         pid_info = &g2.wheel_rate_control.get_pid(0).get_pid_info();
         mavlink_msg_pid_tuning_send(chan, 7,
-                                    pid_info->desired,
+                                    pid_info->target,
                                     pid_info->actual,
                                     pid_info->FF,
                                     pid_info->P,
@@ -254,7 +254,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
     if (g.gcs_pid_mask & 16) {
         pid_info = &g2.wheel_rate_control.get_pid(1).get_pid_info();
         mavlink_msg_pid_tuning_send(chan, 8,
-                                    pid_info->desired,
+                                    pid_info->target,
                                     pid_info->actual,
                                     pid_info->FF,
                                     pid_info->P,
@@ -269,7 +269,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
     if (g.gcs_pid_mask & 32) {
         pid_info = &g2.attitude_control.get_sailboat_heel_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, 9,
-                                    pid_info->desired,
+                                    pid_info->target,
                                     pid_info->actual,
                                     pid_info->FF,
                                     pid_info->P,

AntennaTracker/GCS_Mavlink.cpp

@@ -103,7 +103,7 @@ void GCS_MAVLINK_Tracker::send_pid_tuning()
         const AP_Logger::PID_Info *pid_info;
         pid_info = &g.pidPitch2Srv.get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
-                                    pid_info->desired,
+                                    pid_info->target,
                                     pid_info->actual,
                                     pid_info->FF,
                                     pid_info->P,
@@ -119,7 +119,7 @@ void GCS_MAVLINK_Tracker::send_pid_tuning()
         const AP_Logger::PID_Info *pid_info;
         pid_info = &g.pidYaw2Srv.get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
-                                    pid_info->desired,
+                                    pid_info->target,
                                     pid_info->actual,
                                     pid_info->FF,
                                     pid_info->P,

ArduCopter/GCS_Mavlink.cpp

@@ -223,7 +223,7 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
         if (pid_info != nullptr) {
             mavlink_msg_pid_tuning_send(chan,
                                         axes[i],
-                                        pid_info->desired*0.01f,
+                                        pid_info->target*0.01f,
                                         achieved,
                                         pid_info->FF*0.01f,
                                         pid_info->P*0.01f,

ArduPlane/GCS_Mavlink.cpp

@@ -321,7 +321,7 @@ void GCS_MAVLINK_Plane::send_pid_info(const AP_Logger::PID_Info *pid_info,
         return;
     }
      mavlink_msg_pid_tuning_send(chan, axis,
-                                 pid_info->desired,
+                                 pid_info->target,
                                  achieved,
                                  pid_info->FF,
                                  pid_info->P,

ArduPlane/quadplane.cpp

@@ -805,8 +805,8 @@ void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
                                                                       yaw_rate_cds);
     } else {
         // use the fixed wing desired rates
-        float roll_rate = plane.rollController.get_pid_info().desired;
+        float roll_rate = plane.rollController.get_pid_info().target;
-        float pitch_rate = plane.pitchController.get_pid_info().desired;
+        float pitch_rate = plane.pitchController.get_pid_info().target;
         attitude_control->input_rate_bf_roll_pitch_yaw_2(roll_rate*100.0f, pitch_rate*100.0f, yaw_rate_cds);
     }
 }

ArduSub/GCS_Mavlink.cpp

@@ -156,7 +156,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
     if (g.gcs_pid_mask & 1) {
         const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
-                                    pid_info.desired*0.01f,
+                                    pid_info.target*0.01f,
                                     degrees(gyro.x),
                                     pid_info.FF*0.01f,
                                     pid_info.P*0.01f,
@@ -169,7 +169,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
     if (g.gcs_pid_mask & 2) {
         const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
-                                    pid_info.desired*0.01f,
+                                    pid_info.target*0.01f,
                                     degrees(gyro.y),
                                     pid_info.FF*0.01f,
                                     pid_info.P*0.01f,
@@ -182,7 +182,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
     if (g.gcs_pid_mask & 4) {
         const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
-                                    pid_info.desired*0.01f,
+                                    pid_info.target*0.01f,
                                     degrees(gyro.z),
                                     pid_info.FF*0.01f,
                                     pid_info.P*0.01f,
@@ -195,7 +195,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
     if (g.gcs_pid_mask & 8) {
         const AP_Logger::PID_Info &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
-                                    pid_info.desired*0.01f,
+                                    pid_info.target*0.01f,
                                     -(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
                                     pid_info.FF*0.01f,
                                     pid_info.P*0.01f,

libraries/APM_Control/AP_PitchController.cpp

@@ -186,7 +186,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
     _pid_info.FF = desired_rate * k_ff * scaler;
     _pid_info.D = rate_error * gains.D * scaler;
 	_last_out = _pid_info.D + _pid_info.FF + _pid_info.P;
-    _pid_info.desired = desired_rate;
+    _pid_info.target = desired_rate;
     _pid_info.actual = achieved_rate;
 
     if (autotune.running && aspeed > aparm.airspeed_min) {

libraries/APM_Control/AP_RollController.cpp

@@ -152,7 +152,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
     _pid_info.D = rate_error * gains.D * scaler;
     _pid_info.P = desired_rate * kp_ff * scaler;
     _pid_info.FF = desired_rate * k_ff * scaler;
-    _pid_info.desired = desired_rate;
+    _pid_info.target = desired_rate;
     _pid_info.actual = achieved_rate;
 
 	_last_out = _pid_info.FF + _pid_info.P + _pid_info.D;

libraries/APM_Control/AP_SteerController.cpp

@@ -139,7 +139,7 @@ int32_t AP_SteerController::get_steering_out_rate(float desired_rate)
     // equation for a ground vehicle. It returns steering as an angle from -45 to 45
     float scaler = 1.0f / speed;
 
-    _pid_info.desired = desired_rate;
+    _pid_info.target = desired_rate;
 
 	// Calculate the steering rate error (deg/sec) and apply gain scaler
     // We do this in earth frame to allow for rover leaning over in hard corners

libraries/APM_Control/AP_YawController.h

@@ -13,7 +13,7 @@ public:
         , _ahrs(ahrs)
     {
         AP_Param::setup_object_defaults(this, var_info);
-        _pid_info.desired = 0;
+        _pid_info.target = 0;
         _pid_info.FF = 0;
         _pid_info.P = 0;
     }

libraries/APM_Control/AR_AttitudeControl.cpp

@@ -613,7 +613,7 @@ float AR_AttitudeControl::get_desired_pitch() const
         return 0.0f;
     }
 
-    return _pitch_to_throttle_pid.get_pid_info().desired;
+    return _pitch_to_throttle_pid.get_pid_info().target;
 }
 
 // Sailboat heel(roll) angle contorller release sail to keep at maximum heel angle

libraries/AP_Landing/AP_Landing_Deepstall.cpp

@@ -448,7 +448,7 @@ void AP_Landing_Deepstall::Log(void) const {
                              constrain_float(predicted_travel_distance * 1e2f, (float)INT16_MIN, (float)INT16_MAX) : 0),
         l1_i             : stage >= DEEPSTALL_STAGE_LAND ? L1_xtrack_i : 0.0f,
         loiter_sum_cd    : stage >= DEEPSTALL_STAGE_ESTIMATE_WIND ? loiter_sum_cd : 0,
-        desired          : pid_info.desired,
+        desired          : pid_info.target,
         P                : pid_info.P,
         I                : pid_info.I,
         D                : pid_info.D,

libraries/AP_Logger/AP_Logger.h

@@ -283,7 +283,7 @@ public:
 
     // This structure provides information on the internal member data of a PID for logging purposes
     struct PID_Info {
-        float desired;
+        float target;
         float actual;
         float P;
         float I;

libraries/AP_Logger/LogFile.cpp

@@ -795,7 +795,7 @@ void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
     struct log_PID pkt = {
         LOG_PACKET_HEADER_INIT(msg_type),
         time_us         : AP_HAL::micros64(),
-        desired         : info.desired,
+        target          : info.target,
         actual          : info.actual,
         P               : info.P,
         I               : info.I,

libraries/AP_Logger/LogStructure.h

@@ -724,7 +724,7 @@ struct PACKED log_Attitude {
 struct PACKED log_PID {
     LOG_PACKET_HEADER;
     uint64_t time_us;
-    float   desired;
+    float   target;
     float   actual;
     float   P;
     float   I;

libraries/PID/PID.cpp

@@ -105,7 +105,7 @@ float PID::get_pid(float error, float scaler)
         output                          += _integrator;
     }
 
-    _pid_info.desired = output;
+    _pid_info.target = output;
     return output;
 }