Copter: rename get_throttle_surface_tracking to get_surface_tracking_climb_rate

ArduCopter/Attitude.pde

@@ -225,9 +225,9 @@ static int16_t get_throttle_pre_takeoff(int16_t throttle_control)
     return throttle_out;
 }
 
-// get_throttle_surface_tracking - hold copter at the desired distance above the ground
+// get_surface_tracking_climb_rate - hold copter at the desired distance above the ground
 //      returns climb rate (in cm/s) which should be passed to the position controller
-static float get_throttle_surface_tracking(int16_t target_rate, float current_alt_target, float dt)
+static float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
 {
     static uint32_t last_call_ms = 0;
     float distance_error;

ArduCopter/control_althold.pde

@@ -70,7 +70,7 @@ static void althold_run()
         // call throttle controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
             // if sonar is ok, use surface tracking
-            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
+            target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 
         // call position controller

ArduCopter/control_circle.pde

@@ -75,7 +75,7 @@ static void circle_run()
     // run altitude controller
     if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
         // if sonar is ok, use surface tracking
-        target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
+        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
     }
     // update altitude target and call position controller
     pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);

ArduCopter/control_loiter.pde

@@ -93,7 +93,7 @@ static void loiter_run()
         // run altitude controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
             // if sonar is ok, use surface tracking
-            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
+            target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 
         // update altitude target and call position controller

ArduCopter/control_poshold.pde

@@ -521,7 +521,7 @@ static void poshold_run()
         // throttle control
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
             // if sonar is ok, use surface tracking
-            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
+            target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
         // update altitude target and call position controller
         pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);

ArduCopter/control_sport.pde

@@ -90,7 +90,7 @@ static void sport_run()
         // call throttle controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
             // if sonar is ok, use surface tracking
-            target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
+            target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
 
         // call position controller