Copter: integrate init_targets rename to relax_bf_rate_controller

Also remove unnecessary init_targets from flight mode init functions.

ArduCopter/control_acro.pde

@@ -7,8 +7,7 @@
 // acro_init - initialise acro controller
 static bool acro_init(bool ignore_checks)
 {
-    // clear stabilized rate errors
+    // always successfully enter acro
-    attitude_control.init_targets();
     return true;
 }
 
@@ -21,7 +20,7 @@ static void acro_run()
 
     // if motors not running reset angle targets
     if(!motors.armed() || g.rc_3.control_in <= 0) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }

ArduCopter/control_althold.pde

@@ -28,7 +28,7 @@ static void althold_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         // To-Do: reset altitude target if we're somehow not landed?
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -56,7 +56,7 @@ static void althold_run()
 
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         // move throttle to minimum to keep us on the ground
         attitude_control.set_throttle_out(0, false);
     }else{

ArduCopter/control_auto.pde

@@ -97,7 +97,7 @@ static void auto_takeoff_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         // reset attitude control targets
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // tell motors to do a slow start
         motors.slow_start(true);
@@ -145,7 +145,7 @@ static void auto_wp_run()
     if(!ap.auto_armed) {
         // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // tell motors to do a slow start
         motors.slow_start(true);
@@ -202,7 +202,7 @@ static void auto_spline_run()
     if(!ap.auto_armed) {
         // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // tell motors to do a slow start
         motors.slow_start(true);
@@ -267,7 +267,7 @@ static void auto_land_run()
 {
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // set target to current position
         wp_nav.init_loiter_target();

ArduCopter/control_autotune.pde

@@ -213,7 +213,7 @@ static void autotune_run()
     // if not auto armed set throttle to zero and exit immediately
     // this should not actually be possible because of the autotune_init() checks
     if(!ap.auto_armed) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -240,7 +240,7 @@ static void autotune_run()
 
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         // move throttle to minimum to keep us on the ground
         attitude_control.set_throttle_out(0, false);
     }else{

ArduCopter/control_circle.pde

@@ -35,7 +35,7 @@ static void circle_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
         // To-Do: add some initialisation of position controllers
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }

ArduCopter/control_drift.pde

@@ -44,7 +44,7 @@ static void drift_run()
 
     // if not armed or landed and throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || (ap.land_complete && g.rc_3.control_in <= 0)) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }

ArduCopter/control_guided.pde

@@ -53,7 +53,7 @@ static void guided_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         // To-Do: reset waypoint controller?
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
         return;

ArduCopter/control_hybrid.pde

@@ -157,7 +157,7 @@ static void hybrid_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
         wp_nav.init_loiter_target();
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -185,7 +185,7 @@ static void hybrid_run()
     // if landed initialise loiter targets, set throttle to zero and exit
     if (ap.land_complete) {
         wp_nav.init_loiter_target();
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }else{

ArduCopter/control_land.pde

@@ -47,7 +47,7 @@ static void land_gps_run()
 
     // if not auto armed or landed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         wp_nav.init_loiter_target();
 
@@ -102,7 +102,7 @@ static void land_nogps_run()
 
     // if not auto armed or landed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
 #if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
         // disarm when the landing detector says we've landed and throttle is at minimum

ArduCopter/control_loiter.pde

@@ -35,7 +35,7 @@ static void loiter_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
         wp_nav.init_loiter_target();
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -69,7 +69,7 @@ static void loiter_run()
     // when landed reset targets and output zero throttle
     if (ap.land_complete) {
         wp_nav.init_loiter_target();
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
     }else{
         // run loiter controller

ArduCopter/control_ofloiter.pde

@@ -36,7 +36,7 @@ static void ofloiter_run()
 
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         reset_optflow_I();
         return;
@@ -67,7 +67,7 @@ static void ofloiter_run()
 
     // when landed reset targets and output zero throttle
     if (ap.land_complete) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         reset_optflow_I();
     }else{

ArduCopter/control_rtl.pde

@@ -127,7 +127,7 @@ static void rtl_climb_return_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         // reset attitude control targets
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // To-Do: re-initialise wpnav targets
         return;
@@ -184,7 +184,7 @@ static void rtl_loiterathome_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         // reset attitude control targets
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // To-Do: re-initialise wpnav targets
         return;
@@ -251,7 +251,7 @@ static void rtl_descent_run()
 {
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // set target to current position
         wp_nav.init_loiter_target();
@@ -310,7 +310,7 @@ static void rtl_land_run()
 {
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         // set target to current position
         wp_nav.init_loiter_target();

ArduCopter/control_sport.pde

@@ -26,7 +26,7 @@ static void sport_run()
 
     // if not armed or throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || g.rc_3.control_in <= 0) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -75,7 +75,7 @@ static void sport_run()
 
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         // move throttle to minimum to keep us on the ground
         attitude_control.set_throttle_out(0, false);
     }else{

ArduCopter/control_stabilize.pde

@@ -25,7 +25,7 @@ static void stabilize_run()
 
     // if not armed or throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || g.rc_3.control_in <= 0) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
         attitude_control.set_throttle_out(0, false);
         return;
     }
@@ -45,7 +45,7 @@ static void stabilize_run()
 
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
-        attitude_control.init_targets();
+        attitude_control.relax_bf_rate_controller();
     }else{
         // call attitude controller
         attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());