From a121fd6b0c469086a0884c835f36cc2228e34b60 Mon Sep 17 00:00:00 2001
From: Sal <32248675+salauddinaliahmed@users.noreply.github.com>
Date: Mon, 10 Dec 2018 09:48:58 -0500
Subject: [PATCH] Changed name to attitude rate

---
 plugins/offboard/offboard_impl.cpp | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/plugins/offboard/offboard_impl.cpp b/plugins/offboard/offboard_impl.cpp
index 6de3baa5e2..9b5e311228 100644
--- a/plugins/offboard/offboard_impl.cpp
+++ b/plugins/offboard/offboard_impl.cpp
@@ -160,12 +160,12 @@ void OffboardImpl::set_velocity_body(Offboard::VelocityBodyYawspeed velocity_bod
     send_velocity_body();
 }
 
-void OffboardImpl::set_attitude_target(Offboard::SetAttitude set_attitude)
+void OffboardImpl::set_attitude_rate(Offboard::AttitudeRate attitude_rate)
 {
     _mutex.lock();
-    _set_attitude = set_attitude;
+    _attitude_rate = attitude_rate;
 
-    if (_mode != Mode::ATTITUDE_TARGET) {
+    if (_mode != Mode::ATTITUDE_RATE) {
         if (_call_every_cookie) {
             // If we're already sending other setpoints, stop that now.
             _parent->remove_call_every(_call_every_cookie);
@@ -173,9 +173,9 @@ void OffboardImpl::set_attitude_target(Offboard::SetAttitude set_attitude)
         }
         // We automatically send body setpoints from now on.
         _parent->add_call_every(
-            [this]() { send_attitude_target(); }, SEND_INTERVAL_S, &_call_every_cookie);
+            [this]() { send_attitude_rate(); }, SEND_INTERVAL_S, &_call_every_cookie);
 
-        _mode = Mode::ATTITUDE_TARGET;
+        _mode = Mode::ATTITUDE_RATE;
     } else {
         // We're already sending these kind of setpoints. Since the setpoint change, let's
         // reschedule the next call, so we don't send setpoints too often.
@@ -184,7 +184,7 @@ void OffboardImpl::set_attitude_target(Offboard::SetAttitude set_attitude)
     _mutex.unlock();
 
     // also send it right now to reduce latency
-    send_attitude_target();
+    send_attitude_rate();
 }
 
 void OffboardImpl::send_velocity_ned()
@@ -293,7 +293,7 @@ void OffboardImpl::send_velocity_body()
     _parent->send_message(message);
 }
     
-void OffboardImpl::send_attitude_target()
+void OffboardImpl::send_attitude_rate()
 {
     //const static uint8_t IGNORE_BODY_ROLL_RATE = (1 << 0);
     //const static uint8_t IGNORE_BODY_PITCH_RATE = (1 << 1);
@@ -305,10 +305,10 @@ void OffboardImpl::send_attitude_target()
     const static uint8_t IGNORE_ATTITUDE = (1 << 7);
     
     _mutex.lock();
-    const float thrust = _set_attitude.thrust_value; 
-    const float body_roll_rate = to_rad_from_deg(_set_attitude.roll_deg_s);
-    const float body_pitch_rate = to_rad_from_deg(_set_attitude.pitch_deg_s);
-    const float body_yaw_rate = to_rad_from_deg(_set_attitude.yaw_deg_s);
+    const float thrust = _attitude_rate.thrust_value; 
+    const float body_roll_rate = to_rad_from_deg(_attitude_rate.roll_deg_s);
+    const float body_pitch_rate = to_rad_from_deg(_attitude_rate.pitch_deg_s);
+    const float body_yaw_rate = to_rad_from_deg(_attitude_rate.yaw_deg_s);
     _mutex.unlock();
      
     mavlink_message_t message;