Sub: Refactor "Copter" to "Sub".

ArduSub/Attitude.cpp

@@ -1,17 +1,17 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include "Copter.h"
+#include "Sub.h"
 
 // get_smoothing_gain - returns smoothing gain to be passed into attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth
 //      result is a number from 2 to 12 with 2 being very sluggish and 12 being very crisp
-float Copter::get_smoothing_gain()
+float Sub::get_smoothing_gain()
 {
     return (2.0f + (float)g.rc_feel_rp/10.0f);
 }
 
 // get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
 // returns desired angle in centi-degrees
-void Copter::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)
+void Sub::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)
 {
     // sanity check angle max parameter
     aparm.angle_max = constrain_int16(aparm.angle_max,1000,8000);
@@ -43,14 +43,14 @@ void Copter::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float
 // get_pilot_desired_heading - transform pilot's yaw input into a
 // desired yaw rate
 // returns desired yaw rate in centi-degrees per second
-float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
+float Sub::get_pilot_desired_yaw_rate(int16_t stick_angle)
 {
     // convert pilot input to the desired yaw rate
     return stick_angle * g.acro_yaw_p;
 }
 
 // check for ekf yaw reset and adjust target heading
-void Copter::check_ekf_yaw_reset()
+void Sub::check_ekf_yaw_reset()
 {
     float yaw_angle_change_rad = 0.0f;
     uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
@@ -66,7 +66,7 @@ void Copter::check_ekf_yaw_reset()
 
 // get_roi_yaw - returns heading towards location held in roi_WP
 // should be called at 100hz
-float Copter::get_roi_yaw()
+float Sub::get_roi_yaw()
 {
     static uint8_t roi_yaw_counter = 0;     // used to reduce update rate to 100hz
 
@@ -79,7 +79,7 @@ float Copter::get_roi_yaw()
     return yaw_look_at_WP_bearing;
 }
 
-float Copter::get_look_ahead_yaw()
+float Sub::get_look_ahead_yaw()
 {
     const Vector3f& vel = inertial_nav.get_velocity();
     float speed = pythagorous2(vel.x,vel.y);
@@ -96,7 +96,7 @@ float Copter::get_look_ahead_yaw()
 
 // update_thr_average - update estimated throttle required to hover (if necessary)
 //  should be called at 100hz
-void Copter::update_thr_average()
+void Sub::update_thr_average()
 {
     // ensure throttle_average has been initialised
     if( is_zero(throttle_average) ) {
@@ -122,7 +122,7 @@ void Copter::update_thr_average()
 }
 
 // set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared
-void Copter::set_throttle_takeoff()
+void Sub::set_throttle_takeoff()
 {
     // tell position controller to reset alt target and reset I terms
     pos_control.init_takeoff();
@@ -134,7 +134,7 @@ void Copter::set_throttle_takeoff()
 // get_pilot_desired_throttle - transform pilot's throttle input to make cruise throttle mid stick
 // used only for manual throttle modes
 // returns throttle output 0 to 1000
-int16_t Copter::get_pilot_desired_throttle(int16_t throttle_control)
+int16_t Sub::get_pilot_desired_throttle(int16_t throttle_control)
 {
     int16_t throttle_out;
 
@@ -162,7 +162,7 @@ int16_t Copter::get_pilot_desired_throttle(int16_t throttle_control)
 // get_pilot_desired_climb_rate - transform pilot's throttle input to
 // climb rate in cm/s.  we use radio_in instead of control_in to get the full range
 // without any deadzone at the bottom
-float Copter::get_pilot_desired_climb_rate(float throttle_control)
+float Sub::get_pilot_desired_climb_rate(float throttle_control)
 {
     // throttle failsafe check
     if( failsafe.radio ) {
@@ -199,12 +199,12 @@ float Copter::get_pilot_desired_climb_rate(float throttle_control)
 }
 
 // get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff
-float Copter::get_non_takeoff_throttle()
+float Sub::get_non_takeoff_throttle()
 {
     return (g.throttle_mid / 2.0f);
 }
 
-float Copter::get_takeoff_trigger_throttle()
+float Sub::get_takeoff_trigger_throttle()
 {
     return channel_throttle->get_control_mid() + g.takeoff_trigger_dz;
 }
@@ -212,7 +212,7 @@ float Copter::get_takeoff_trigger_throttle()
 // get_throttle_pre_takeoff - convert pilot's input throttle to a throttle output before take-off
 // used only for althold, loiter, hybrid flight modes
 // returns throttle output 0 to 1000
-float Copter::get_throttle_pre_takeoff(float input_thr)
+float Sub::get_throttle_pre_takeoff(float input_thr)
 {
     // exit immediately if input_thr is zero
     if (input_thr <= 0.0f) {
@@ -251,7 +251,7 @@ float Copter::get_throttle_pre_takeoff(float input_thr)
 
 // 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
-float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
+float Sub::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;
@@ -285,14 +285,14 @@ float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current
 }
 
 // set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
-void Copter::set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
+void Sub::set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
 {
     // shift difference between pilot's throttle and hover throttle into accelerometer I
     g.pid_accel_z.set_integrator(pilot_throttle-throttle_average);
 }
 
 // updates position controller's maximum altitude using fence and EKF limits
-void Copter::update_poscon_alt_max()
+void Sub::update_poscon_alt_max()
 {
     float alt_limit_cm = 0.0f;  // interpreted as no limit if left as zero
 
@@ -316,7 +316,7 @@ void Copter::update_poscon_alt_max()
 }
 
 // rotate vector from vehicle's perspective to North-East frame
-void Copter::rotate_body_frame_to_NE(float &x, float &y)
+void Sub::rotate_body_frame_to_NE(float &x, float &y)
 {
     float ne_x = x*ahrs.cos_yaw() - y*ahrs.sin_yaw();
     float ne_y = x*ahrs.sin_yaw() + y*ahrs.cos_yaw();