Copter: desired-ground-idle replaces spin-when-armed

ArduCopter/mode.cpp

@@ -383,7 +383,7 @@ void Copter::Mode::zero_throttle_and_relax_ac()
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
     attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
 #else
-    motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+    motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
     // multicopters do not stabilize roll/pitch/yaw when disarmed
     attitude_control->set_throttle_out_unstabilized(0.0f, true, copter.g.throttle_filt);
 #endif

ArduCopter/mode_althold.cpp

@@ -111,7 +111,7 @@ void Copter::ModeAltHold::run()
     case AltHold_Landed:
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
-            motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+            motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }

ArduCopter/mode_autotune.cpp

@@ -54,7 +54,7 @@ void Copter::AutoTune::run()
 
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
-            copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+            copter.motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }

ArduCopter/mode_flowhold.cpp

@@ -336,7 +336,7 @@ void Copter::ModeFlowHold::run()
     case FlowHold_Landed:
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
-            copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+            copter.motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }

ArduCopter/mode_land.cpp

@@ -113,7 +113,7 @@ void Copter::ModeLand::nogps_run()
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
         attitude_control->set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+        motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif

ArduCopter/mode_loiter.cpp

@@ -182,7 +182,7 @@ void Copter::ModeLoiter::run()
     case Loiter_Landed:
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
-            motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+            motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }

ArduCopter/mode_poshold.cpp

@@ -186,7 +186,7 @@ void Copter::ModePosHold::run()
     if (ap.land_complete) {
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
-            motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+            motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }

ArduCopter/mode_sport.cpp

@@ -132,7 +132,7 @@ void Copter::ModeSport::run()
     case Sport_Landed:
         // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
         if (target_climb_rate < 0.0f) {
-            motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+            motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }

ArduCopter/mode_throw.cpp

@@ -110,7 +110,7 @@ void Copter::ModeThrow::run()
 
         // prevent motors from rotating before the throw is detected unless enabled by the user
         if (g.throw_motor_start == 1) {
-            motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+            motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
         }
@@ -123,7 +123,7 @@ void Copter::ModeThrow::run()
 
         // prevent motors from rotating before the throw is detected unless enabled by the user
         if (g.throw_motor_start == 1) {
-            motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
+            motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
         } else {
             motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
         }