Copter: integrate surface_tracking to control_althold

ArduCopter/control_althold.pde

@@ -62,7 +62,7 @@ static void althold_run()
         // call throttle controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
             // if sonar is ok, use surface tracking
-            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, G_Dt);
+            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 
         // call position controller

ArduCopter/control_circle.pde

@@ -64,7 +64,7 @@ static void circle_run()
     // run altitude controller
     if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
         // if sonar is ok, use surface tracking
-        target_climb_rate = get_throttle_surface_tracking(target_climb_rate,G_Dt);
+        target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
     }
     // update altitude target and call position controller
     pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);

ArduCopter/control_loiter.pde

@@ -74,7 +74,7 @@ static void loiter_run()
         // run altitude controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
             // if sonar is ok, use surface tracking
-            target_climb_rate = get_throttle_surface_tracking(target_climb_rate,G_Dt);
+            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 
         // update altitude target and call position controller

ArduCopter/control_ofloiter.pde

@@ -71,7 +71,7 @@ static void ofloiter_run()
         // run altitude controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
             // if sonar is ok, use surface tracking
-            target_climb_rate = get_throttle_surface_tracking(target_climb_rate,G_Dt);
+            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 
         // update altitude target and call position controller

ArduCopter/control_sport.pde

@@ -57,7 +57,7 @@ static void sport_run()
         // call throttle controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
             // if sonar is ok, use surface tracking
-            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, G_Dt);
+            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 
         // call position controller