From 882970c11aa411aeee937196b0d5753202d86c9c Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Sat, 2 Mar 2024 12:27:36 +1030
Subject: [PATCH] Copter: Payload Place: Change PLDP_RNG_MIN to PLDP_RNG_MAX

---
 ArduCopter/Parameters.cpp | 2 +-
 ArduCopter/Parameters.h   | 2 +-
 ArduCopter/mode_auto.cpp  | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 58d86ab25a4d79..372935395645fc 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1182,7 +1182,7 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
     // @Units: m
     // @Range: 0 100
     // @User: Standard
-    AP_GROUPINFO("PLDP_RNG_MIN", 2, ParametersG2, pldp_range_finder_minimum_m, 0.0),
+    AP_GROUPINFO("PLDP_RNG_MAX", 2, ParametersG2, pldp_range_finder_maximum_m, 0.0),
 
     // @Param: PLDP_DELAY
     // @DisplayName: Payload Place climb delay
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 30fbe9b8759c17..21bc10e78c87af 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -682,7 +682,7 @@ class ParametersG2 {
 
     // payload place parameters
     AP_Float pldp_thrust_placed_fraction;
-    AP_Float pldp_range_finder_minimum_m;
+    AP_Float pldp_range_finder_maximum_m;
     AP_Float pldp_delay_s;
     AP_Float pldp_descent_speed_ms;
 };
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 83d2369b5c00a8..38ead02182cdbb 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1301,13 +1301,13 @@ void PayloadPlace::run()
             // thrust is above minimum threshold
             place_start_time_ms = now_ms;
             break;
-        } else if (is_positive(g2.pldp_range_finder_minimum_m)) {
+        } else if (is_positive(g2.pldp_range_finder_maximum_m)) {
             if (!copter.rangefinder_state.enabled) {
                 // abort payload place because rangefinder is not enabled
                 state = State::Ascent_Start;
                 gcs().send_text(MAV_SEVERITY_WARNING, "%s PLDP_RNG_MIN set and rangefinder not enabled", prefix_str);
                 break;
-            } else if (copter.rangefinder_alt_ok() && (copter.rangefinder_state.glitch_count == 0) && (copter.rangefinder_state.alt_cm > g2.pldp_range_finder_minimum_m * 100.0)) {
+            } else if (copter.rangefinder_alt_ok() && (copter.rangefinder_state.glitch_count == 0) && (copter.rangefinder_state.alt_cm > g2.pldp_range_finder_maximum_m * 100.0)) {
                 // range finder altitude is above minimum
                 place_start_time_ms = now_ms;
                 break;