Copter: Rename set_yaw_target_to_current_heading

ArduCopter/mode.cpp

@@ -458,7 +458,7 @@ void Mode::make_safe_spool_down()
     case AP_Motors::SpoolState::GROUND_IDLE:
         // relax controllers during idle states
         attitude_control->reset_rate_controller_I_terms_smoothly();
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         break;
 
     case AP_Motors::SpoolState::SPOOLING_UP:

ArduCopter/mode_althold.cpp

@@ -45,12 +45,12 @@ void ModeAltHold::run()
 
     case AltHold_MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 
     case AltHold_Landed_Ground_Idle:
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:

ArduCopter/mode_autotune.cpp

@@ -50,7 +50,7 @@ void AutoTune::run()
             copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
         }
         copter.attitude_control->reset_rate_controller_I_terms_smoothly();
-        copter.attitude_control->set_yaw_target_to_current_heading();
+        copter.attitude_control->reset_yaw_target_and_rate();
 
         float target_roll, target_pitch, target_yaw_rate;
         get_pilot_desired_rp_yrate_cd(target_roll, target_pitch, target_yaw_rate);

ArduCopter/mode_drift.cpp

@@ -91,13 +91,13 @@ void ModeDrift::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
 
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms_smoothly();
         break;
 

ArduCopter/mode_flowhold.cpp

@@ -263,7 +263,7 @@ void ModeFlowHold::run()
     case AltHold_MotorStopped:
         copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
         copter.attitude_control->reset_rate_controller_I_terms();
-        copter.attitude_control->set_yaw_target_to_current_heading();
+        copter.attitude_control->reset_yaw_target_and_rate();
         copter.pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         flow_pi_xy.reset_I();
         break;
@@ -285,7 +285,7 @@ void ModeFlowHold::run()
         break;
 
     case AltHold_Landed_Ground_Idle:
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:

ArduCopter/mode_loiter.cpp

@@ -115,7 +115,7 @@ void ModeLoiter::run()
 
     case AltHold_MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->init_target();
         attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
@@ -141,7 +141,7 @@ void ModeLoiter::run()
         break;
 
     case AltHold_Landed_Ground_Idle:
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:

ArduCopter/mode_poshold.cpp

@@ -101,7 +101,7 @@ void ModePosHold::run()
 
     case AltHold_MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
@@ -141,7 +141,7 @@ void ModePosHold::run()
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
         loiter_nav->update(false);
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         init_wind_comp_estimate();
         FALLTHROUGH;
 

ArduCopter/mode_sport.cpp

@@ -75,7 +75,7 @@ void ModeSport::run()
 
     case AltHold_MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 
@@ -93,7 +93,7 @@ void ModeSport::run()
         break;
 
     case AltHold_Landed_Ground_Idle:
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:

ArduCopter/mode_stabilize.cpp

@@ -31,13 +31,13 @@ void ModeStabilize::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
 
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms_smoothly();
         break;
 

ArduCopter/mode_stabilize_heli.cpp

@@ -50,14 +50,14 @@ void ModeStabilize_Heli::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
     case AP_Motors::SpoolState::GROUND_IDLE:
         // If aircraft is landed, set target heading to current and reset the integrator
         // Otherwise motors could be at ground idle for practice autorotation
         if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
-            attitude_control->set_yaw_target_to_current_heading();
+            attitude_control->reset_yaw_target_and_rate();
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;

ArduCopter/mode_systemid.cpp

@@ -131,7 +131,7 @@ void ModeSystemId::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
 
@@ -140,7 +140,7 @@ void ModeSystemId::run()
         // Tradheli initializes targets when going from disarmed to armed state. 
         // init_targets_on_arming is always set true for multicopter.
         if (motors->init_targets_on_arming()) {
-            attitude_control->set_yaw_target_to_current_heading();
+            attitude_control->reset_yaw_target_and_rate();
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;

ArduCopter/mode_throw.cpp

@@ -114,7 +114,7 @@ void ModeThrow::run()
         }
 
         // demand zero throttle (motors will be stopped anyway) and continually reset the attitude controller
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_throttle_out(0,true,g.throttle_filt);
         break;
@@ -129,7 +129,7 @@ void ModeThrow::run()
         }
 
         // Hold throttle at zero during the throw and continually reset the attitude controller
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_throttle_out(0,true,g.throttle_filt);
 

ArduCopter/mode_zigzag.cpp

@@ -326,7 +326,7 @@ void ModeZigZag::manual_control()
 
     case AltHold_MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->init_target();
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
@@ -352,7 +352,7 @@ void ModeZigZag::manual_control()
         break;
 
     case AltHold_Landed_Ground_Idle:
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         FALLTHROUGH;
 
     case AltHold_Landed_Pre_Takeoff:

ArduCopter/standby.cpp

@@ -18,6 +18,6 @@ void Copter::standby_update()
     }
 
     attitude_control->reset_rate_controller_I_terms();
-    attitude_control->set_yaw_target_to_current_heading();
+    attitude_control->reset_yaw_target_and_rate();
     pos_control->standby_xyz_reset();
 }

ArduCopter/takeoff.cpp

@@ -123,7 +123,7 @@ void Mode::auto_takeoff_run()
         wp_nav->shift_wp_origin_and_destination_to_current_pos_xy();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         pos_control->update_z_controller();
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
         return;