Copter: call renamed functions in AC_AttitudeControl

ArduCopter/GCS_Mavlink.cpp

@@ -296,7 +296,7 @@ void NOINLINE Copter::send_location(mavlink_channel_t chan)
 
 void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
 {
-    const Vector3f &targets = attitude_control.angle_ef_targets();
+    const Vector3f &targets = attitude_control.get_att_target_euler_cd();
     mavlink_msg_nav_controller_output_send(
         chan,
         targets.x / 1.0e2f,

ArduCopter/Log.cpp

@@ -354,7 +354,7 @@ void Copter::Log_Write_Performance()
 // Write an attitude packet
 void Copter::Log_Write_Attitude()
 {
-    Vector3f targets = attitude_control.angle_ef_targets();
+    Vector3f targets = attitude_control.get_att_target_euler_cd();
     targets.z = wrap_360_cd_float(targets.z);
     DataFlash.Log_Write_Attitude(ahrs, targets);
 

ArduCopter/control_acro.cpp

@@ -125,7 +125,7 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
         }
 
         // convert earth-frame level rates to body-frame level rates
-        attitude_control.euler_rate_to_ang_vel(attitude_control.angle_ef_targets()*radians(0.01f), rate_ef_level, rate_bf_level);
+        attitude_control.euler_rate_to_ang_vel(attitude_control.get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
 
         // combine earth frame rate corrections with rate requests
         if (g.acro_trainer == ACRO_TRAINER_LIMITED) {

ArduCopter/control_auto.cpp

@@ -569,7 +569,7 @@ void Copter::set_auto_yaw_mode(uint8_t yaw_mode)
 void Copter::set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle)
 {
     // get current yaw target
-    int32_t curr_yaw_target = attitude_control.angle_ef_targets().z;
+    int32_t curr_yaw_target = attitude_control.get_att_target_euler_cd().z;
 
     // get final angle, 1 = Relative, 0 = Absolute
     if (relative_angle == 0) {

ArduCopter/crash_check.cpp

@@ -33,7 +33,7 @@ void Copter::crash_check()
     }
 
     // check for angle error over 30 degrees
-    const Vector3f angle_error = attitude_control.angle_bf_error();
+    const Vector3f angle_error = attitude_control.get_att_error_rot_vec_cd();
     if (pythagorous2(angle_error.x, angle_error.y) <= CRASH_CHECK_ANGLE_DEVIATION_CD) {
         crash_counter = 0;
         return;
@@ -99,7 +99,7 @@ void Copter::parachute_check()
     }
 
     // check for angle error over 30 degrees
-    const Vector3f angle_error = attitude_control.angle_bf_error();
+    const Vector3f angle_error = attitude_control.get_att_error_rot_vec_cd();
     if (pythagorous2(angle_error.x, angle_error.y) <= CRASH_CHECK_ANGLE_DEVIATION_CD) {
         control_loss_count = 0;
         return;

ArduCopter/land_detector.cpp

@@ -131,11 +131,11 @@ void Copter::update_throttle_thr_mix()
         // autopilot controlled throttle
 
         // check for aggressive flight requests - requested roll or pitch angle below 15 degrees
-        const Vector3f angle_target = attitude_control.angle_ef_targets();
+        const Vector3f angle_target = attitude_control.get_att_target_euler_cd();
         bool large_angle_request = (pythagorous2(angle_target.x, angle_target.y) > 1500.0f);
 
         // check for large external disturbance - angle error over 30 degrees
-        const Vector3f angle_error = attitude_control.angle_bf_error();
+        const Vector3f angle_error = attitude_control.get_att_error_rot_vec_cd();
         bool large_angle_error = (pythagorous2(angle_error.x, angle_error.y) > 3000.0f);
 
         // check for large acceleration - falling or high turbulence