Copter: rename chase to follow

ArduCopter/Copter.h

@@ -976,11 +976,11 @@ private:
 #if MODE_CIRCLE_ENABLED == ENABLED
     ModeCircle mode_circle;
 #endif
-    ModeChase mode_chase;
 #if MODE_DRIFT_ENABLED == ENABLED
     ModeDrift mode_drift;
 #endif
     ModeFlip mode_flip;
+    ModeFollow mode_follow;
 #if MODE_GUIDED_ENABLED == ENABLED
     ModeGuided mode_guided;
 #endif

ArduCopter/GCS_Mavlink.cpp

@@ -47,7 +47,7 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
     case RTL:
     case LOITER:
     case AVOID_ADSB:
-    case CHASE:
+    case FOLLOW:
     case GUIDED:
     case CIRCLE:
     case POSHOLD:

ArduCopter/defines.h

@@ -109,7 +109,7 @@ enum control_mode_t {
     GUIDED_NOGPS = 20,  // guided mode but only accepts attitude and altitude
     SMART_RTL =    21,  // SMART_RTL returns to home by retracing its steps
     FLOWHOLD  =    22,  // FLOWHOLD holds position with optical flow without rangefinder
-    CHASE     =    23,  // chase attempts to follow a mavink system id
+    FOLLOW    =    23,  // follow attempts to follow another vehicle or ground station
 };
 
 enum mode_reason_t {

ArduCopter/mode.cpp

@@ -56,10 +56,6 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             break;
 #endif
 
-        case CHASE:
-            ret = &mode_chase;
-            break;
-
 #if MODE_CIRCLE_ENABLED == ENABLED
         case CIRCLE:
             ret = &mode_circle;
@@ -150,6 +146,10 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             break;
 #endif
             
+        case FOLLOW:
+            ret = &mode_follow;
+            break;
+
         default:
             break;
     }

ArduCopter/mode.h

@@ -1067,6 +1067,7 @@ private:
 
 };
 
+// modes below rely on Guided mode so must be declared at the end (instead of in alphabetical order)
 
 class ModeAvoidADSB : public ModeGuided {
 
@@ -1093,11 +1094,11 @@ private:
 
 };
 
-class ModeChase : public ModeGuided {
+class ModeFollow : public ModeGuided {
 
 public:
 
-    ModeChase(Copter &copter) :
+    ModeFollow(Copter &copter) :
         Copter::ModeGuided(copter) {
     }
 
@@ -1113,6 +1114,6 @@ public:
 
 protected:
 
-    const char *name() const override { return "CHASE"; }
-    const char *name4() const override { return "CHAS"; }
+    const char *name() const override { return "FOLLOW"; }
+    const char *name4() const override { return "FOLL"; }
 };

ArduCopter/mode_follow.cpp

@@ -1,7 +1,7 @@
 #include "Copter.h"
 
 /*
- * mode_chase.cpp - chase another mavlink-enabled vehicle by system id
+ * mode_follow.cpp - follow another mavlink-enabled vehicle by system id
  *
  * TODO: set ROI yaw mode / point camera at target
  * TODO: stick control to move around on sphere
@@ -19,23 +19,23 @@
 #endif
 
 // initialise avoid_adsb controller
-bool Copter::ModeChase::init(const bool ignore_checks)
+bool Copter::ModeFollow::init(const bool ignore_checks)
 {
     // re-use guided mode
     return Copter::ModeGuided::init(ignore_checks);
 }
 
-bool Copter::ModeChase::set_velocity(const Vector3f& velocity_neu)
+bool Copter::ModeFollow::set_velocity(const Vector3f& velocity_neu)
 {
     // check flight mode
-    if (_copter.flightmode != &_copter.mode_chase) {
+    if (_copter.flightmode != &_copter.mode_follow) {
         return false;
     }
 
     return true;
 }
 
-void Copter::ModeChase::run()
+void Copter::ModeFollow::run()
 {
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {