control: rename _range_aid_enabled to _is_range_aid_suitable

rename rangeAidConditionsMet to checkRangeAidSuitability

EKF/control.cpp

@@ -471,14 +471,14 @@ void Ekf::controlOpticalFlowFusion()
 		if (!_inhibit_flow_use && _control_status.flags.opt_flow) {
 			// inhibit use of optical flow if motion is unsuitable and we are not reliant on it for flight navigation
 			bool preflight_motion_not_ok = !_control_status.flags.in_air && ((_imu_sample_delayed.time_us - _time_good_motion_us) > (uint64_t)1E5);
-			bool flight_motion_not_ok = _control_status.flags.in_air && !areRangeAidConditionsMet();
+			bool flight_motion_not_ok = _control_status.flags.in_air && !isRangeAidSuitable();
 			if ((preflight_motion_not_ok || flight_motion_not_ok) && !flow_required) {
 				_inhibit_flow_use = true;
 			}
 		} else if (_inhibit_flow_use && !_control_status.flags.opt_flow){
 			// allow use of optical flow if motion is suitable or we are reliant on it for flight navigation
 			bool preflight_motion_ok = !_control_status.flags.in_air && ((_imu_sample_delayed.time_us - _time_bad_motion_us) > (uint64_t)5E6);
-			bool flight_motion_ok = _control_status.flags.in_air && areRangeAidConditionsMet();
+			bool flight_motion_ok = _control_status.flags.in_air && isRangeAidSuitable();
 			if (preflight_motion_ok || flight_motion_ok || flow_required) {
 				_inhibit_flow_use = false;
 			}
@@ -1011,8 +1011,8 @@ void Ekf::controlHeightFusion()
 {
 	// set control flags for the desired primary height source
 
-	checkRangeAidConditionsMet();
+	checkRangeAidSuitability();
-	_range_aid_mode_selected = (_params.range_aid == 1) && areRangeAidConditionsMet();
+	_range_aid_mode_selected = (_params.range_aid == 1) && isRangeAidSuitable();
 
 	if (_params.vdist_sensor_type == VDIST_SENSOR_BARO) {
 
@@ -1177,7 +1177,7 @@ void Ekf::controlHeightFusion()
 
 }
 
-void Ekf::checkRangeAidConditionsMet()
+void Ekf::checkRangeAidSuitability()
 {
 	const bool horz_vel_valid = _control_status.flags.gps
 				    || _control_status.flags.ev_pos
@@ -1190,23 +1190,23 @@ void Ekf::checkRangeAidConditionsMet()
 	    && horz_vel_valid) {
 		// check if we can use range finder measurements to estimate height, use hysteresis to avoid rapid switching
 		// Note that the 0.7 coefficients and the innovation check are arbitrary values but work well in practice
-		const bool is_in_range = _range_aid_mode_enabled
+		const bool is_in_range = _is_range_aid_suitable
 					 ? (_terrain_vpos - _state.pos(2) < _params.max_hagl_for_range_aid)
 					 : (_terrain_vpos - _state.pos(2) < _params.max_hagl_for_range_aid * 0.7f);
 
 		const float ground_vel = sqrtf(_state.vel(0) * _state.vel(0) + _state.vel(1) * _state.vel(1));
-		const bool is_below_max_speed = _range_aid_mode_enabled
+		const bool is_below_max_speed = _is_range_aid_suitable
 						? ground_vel < _params.max_vel_for_range_aid
 						: ground_vel < _params.max_vel_for_range_aid * 0.7f;
 
-		const bool is_hagl_stable = _range_aid_mode_enabled
+		const bool is_hagl_stable = _is_range_aid_suitable
 					    ? ((_hagl_innov * _hagl_innov / (sq(_params.range_aid_innov_gate) * _hagl_innov_var)) < 1.0f)
 					    : ((_hagl_innov * _hagl_innov / (sq(_params.range_aid_innov_gate) * _hagl_innov_var)) < 0.01f);
 
-		_range_aid_mode_enabled = is_in_range && is_below_max_speed && is_hagl_stable;
+		_is_range_aid_suitable = is_in_range && is_below_max_speed && is_hagl_stable;
 
 	} else {
-		_range_aid_mode_enabled = false;
+		_is_range_aid_suitable = false;
 	}
 }
 

EKF/ekf.h

@@ -478,7 +478,7 @@ private:
 	bool _bad_vert_accel_detected{false};	///< true when bad vertical accelerometer data has been detected
 
 	// variables used to control range aid functionality
-	bool _range_aid_mode_enabled{false};	///< true when range finder can be used in flight as the height reference instead of the primary height sensor
+	bool _is_range_aid_suitable{false};	///< true when range finder can be used in flight as the height reference instead of the primary height sensor
 	bool _range_aid_mode_selected{false};	///< true when range finder is being used as the height reference instead of the primary height sensor
 
 	// variables used to check range finder validity data
@@ -649,8 +649,8 @@ private:
 	void controlHeightFusion();
 
 	// determine if flight condition is suitable to use range finder instead of the primary height sensor
-	void checkRangeAidConditionsMet();
+	void checkRangeAidSuitability();
-	bool areRangeAidConditionsMet() { return _range_aid_mode_enabled; }
+	bool isRangeAidSuitable() { return _is_range_aid_suitable; }
 
 	// check for "stuck" range finder measurements when rng was not valid for certain period
 	void checkRangeDataValidity();