replace flight controller with autopilot

plane/source/docs/airbrakes-on-plane.rst

@@ -16,14 +16,14 @@ These control surfaces can be driven by:
 Servo Output
 ============
 
-Connect the airbrake servo to a servo output channel on your flight controller. Set the corresponding servo output function to Airbrake (110). Set the servo minimum value SERVOX_MIN to the value for airbrake fully retracted. Set the maximum value SERVOX_MAX to the value for airbrake fully deployed.
+Connect the airbrake servo to a servo output channel on your autopilot. Set the corresponding servo output function to Airbrake (110). Set the servo minimum value SERVOX_MIN to the value for airbrake fully retracted. Set the maximum value SERVOX_MAX to the value for airbrake fully deployed.
 
 
 
 RC Channel Input
 ================
 
-Assign a spare RC channel on your transmitter to a dial, slider or 3 position switch. On the flight controller, ensure this channel is calibrated and assign this channel the RC channel ``RCx_OPTION`` option Airbrake (210).
+Assign a spare RC channel on your transmitter to a dial, slider or 3 position switch. On the autopilot, ensure this channel is calibrated and assign this channel the RC channel ``RCx_OPTION`` option Airbrake (210).
 
 .. _airbrake-setup:
 

plane/source/docs/apms-failsafe-function.rst

@@ -63,7 +63,7 @@ RC Failsafe Operation
 
 -  When RC Failsafe is entered, all RC inputs (except throttle in the case of Throttle Failsafe), are ignored as the autopilot takes its failsafe actions.
 -  First, the autopilot will go into Short Failsafe when it detects RC Failsafe for more than :ref:`FS_SHORT_TIMEOUT<FS_SHORT_TIMEOUT>` seconds.
--  A message will be displayed on your Ground Control Station(GCS), or OSD, if its message panel is enabled, that a Short Failsafe is active, and the flight controller will take the :ref:`FS_SHORT_ACTN<FS_SHORT_ACTN>`, if enabled.  The default is CIRCLE mode.
+-  A message will be displayed on your Ground Control Station(GCS), or OSD, if its message panel is enabled, that a Short Failsafe is active, and the autopilot will take the :ref:`FS_SHORT_ACTN<FS_SHORT_ACTN>`, if enabled.  The default is CIRCLE mode.
 -  If the condition causing the Short Failsafe is removed, the vehicle will return to the previous mode, and a message will be displayed that Short Failsafe is cleared. If it was a Throttle Failsafe that caused the RC Failsafe, and throttle was increased in order to exit, then an additional message will be sent stating that the Throttle Failsafe is OFF.
 -  If the condition causing the Short Failsafe persists longer than :ref:`FS_LONG_TIMEOUT<FS_LONG_TIMEOUT>` seconds the autopilot will go into Long Failsafe, send a message to the GCS that it has been entered, and execute the :ref:`FS_LONG_ACTN<FS_LONG_ACTN>` action, if enabled. The default setting for Long Failsafe action to take is RTL (Return to Launch).
 -  If the RC Failsafe condition is later exited, a message will be displayed that the Long Failsafe is cleared, but the flight mode will not revert. If it was a Throttle Failsafe that caused the RC Failsafe, and throttle was increased in order to exit, then an additional message will be sent stating that the Throttle Failsafe is OFF.

plane/source/docs/cruise-mode.rst

@@ -46,7 +46,7 @@ feature you want to head towards. Then when you let go of the rudder it
 will head straight for that point.
 
 Note that you can configure CRUISE mode to do terrain following on
-flight controllers with microSD storage available. See the
+autopilots with microSD storage available. See the
 :ref:`terrain following documentation <common-terrain-following>`.
 
 .. warning::

plane/source/docs/flight-options.rst

@@ -19,13 +19,13 @@ Flight Options
 5                                       Enable :ref:`Yaw Damping Controller<yaw-controller-tuning>` to be active in ACRO mode
 6                                       Suppress speed scaling during auto takeoffs to be 1 or less to prevent oscillations when not using an airspeed sensor.
 7                                       Enable default airspeed EKF fusion for takeoff (Advanced users only)
-8                                       Remove :ref:`TRIM_PITCH_CD<TRIM_PITCH_CD>` offset on the GCS horizon to show pitch relative to AHRS trim (ie the attitude at which the flight controller was calibrated,unless manually changed)
-9                                       Remove :ref:`TRIM_PITCH_CD<TRIM_PITCH_CD>` on the OSD horizon to show pitch relative to AHRS trim (ie the attitude at which the flight controller was calibrated,unless manually changed)
+8                                       Remove :ref:`TRIM_PITCH_CD<TRIM_PITCH_CD>` offset on the GCS horizon to show pitch relative to AHRS trim (ie the attitude at which the autopilot was calibrated,unless manually changed)
+9                                       Remove :ref:`TRIM_PITCH_CD<TRIM_PITCH_CD>` on the OSD horizon to show pitch relative to AHRS trim (ie the attitude at which the autopilot was calibrated,unless manually changed)
 10                                      Adjust mid-throttle to be :ref:`TRIM_THROTTLE<TRIM_THROTTLE>` in non-auto throttle modes except MANUAL,instead of midway between MAX and MIN stick values (note that the RCx_TRIM value for the throttle channel (x) MUST BE set to center stick value)
 11                                      Disable suppression of fixed wing rate gains in ground mode
 12                                      Enable FBWB style loiter altitude control if STICK_MIXING is enabled
 =====================================   ======================
 
 Default is no options enabled ("0"). Setting the bit will enable that function. For example, if forcing target airspeed in FBWB and CRUISE modes is desired, a value of "8" (bit 3 =1) would be set.
 
-.. note:: Normally, TRIM_PITCH_CD is subtracted from the AHRS pitch so that the artificial horizon shows pitch as if the flight controller was calibrated with aircraft level position set at TRIM_PITCH_CD instead of flat.  This normally results in the artificial horizon indicating 0 pitch when in cruise at desired cruise speed. TRIM_PITCH_CD is the pitch trim that would be required in stabilized modes to maintain altitude at nominal cruise airspeed and throttle, and for most planes is 1-3 degrees positive, depending on the aircraft design (see :ref:`tuning-cruise`).
+.. note:: Normally, TRIM_PITCH_CD is subtracted from the AHRS pitch so that the artificial horizon shows pitch as if the autopilot was calibrated with aircraft level position set at TRIM_PITCH_CD instead of flat.  This normally results in the artificial horizon indicating 0 pitch when in cruise at desired cruise speed. TRIM_PITCH_CD is the pitch trim that would be required in stabilized modes to maintain altitude at nominal cruise airspeed and throttle, and for most planes is 1-3 degrees positive, depending on the aircraft design (see :ref:`tuning-cruise`).

plane/source/docs/guide-four-channel-plane.rst

@@ -102,7 +102,7 @@ Keep the plane level in FBWA mode and command the following inputs by moving the
    </table>
 
 If the control surfaces do not respond correctly, change the RCn_reversed
-parameter (from 0 to 1, or from 1 to 0). Do NOT reverse the output on your transmitter. It must be changed in the flight controller!
+parameter (from 0 to 1, or from 1 to 0). Do NOT reverse the output on your transmitter. It must be changed in the autopilot!
 Double check MANUAL mode for the
 same inputs. If everything is setup correctly, the plane should be almost
 ready to fly.

plane/source/docs/quadplane-frame-setup.rst

@@ -44,7 +44,7 @@ VTOL Motor Ordering
 -------------------
 
 The motor order and output channel is the same as for copter (see :ref:`Copter motor layout <copter:connect-escs-and-motors>`)
-except that the default output channel numbers usualy start at 5 instead of 1, since the basic plane control surfaces are usually setup by default already on outputs 1 thru 4 when Q_ENABLE is set to 1 and the flight controller rebooted to setup QuadPlane.
+except that the default output channel numbers usualy start at 5 instead of 1, since the basic plane control surfaces are usually setup by default already on outputs 1 thru 4 when Q_ENABLE is set to 1 and the autopilot rebooted to setup QuadPlane.
 
 .. note:: :ref:`guide-tailsitter` configuration is a special case. See Tailsitter notes below
 

plane/source/docs/quadplane-vtol-tuning-process.rst

@@ -260,7 +260,7 @@ setup a harmonic notch to remove the noise from your gyros.
 When setting up your filtering you should consider the cause of any
 oscillation you find. On most aircraft the vibrations you find will be
 directly caused by a multiple of the RPM, but on some aircraft a frame
-resonance or resonance in the flight controller mount may be the
+resonance or resonance in the autopilot mount may be the
 cause. Understanding the cause of any resonances is critical to
 reducing noise enough to get a good tune.
 

plane/source/docs/tuning-cruise.rst

@@ -43,7 +43,7 @@ In FBWB or CRUISE, the target airspeed can be directly controlled with the throt
 
 While cruising, the artificial horizon in the OSD or GCS may show an average positive or negative pitch above the level indicator (ie fuselage/autopilot level). This means that the "trim level" pitch or AOA is different than what was set during the accelerometer calibration step. This can be trimmed out so that non altitude controlled modes fly at the same speed and throttle. Do this by adjusting the pitch trim, adding the desired degrees nose up or down using :ref:`TRIM_PITCH_CD<TRIM_PITCH_CD>`. This also optimizes the speed control loop bias point and will allow non altitude controlled modes to fly level at the same throttle and speed. 
 
-Using :ref:`TRIM_PITCH_CD<TRIM_PITCH_CD>` to adjust cruise attitude will also add an offset to the artificial horizon on a GCS or an OSD, but this can be disabled, if desired, using the :ref:`FLIGHT_OPTIONS<FLIGHT_OPTIONS>` bitmask bits 8 and/or 9, if the attitude of the flight controller in level flight is desired, rather than a leveled artificial horizon when flying level .
+Using :ref:`TRIM_PITCH_CD<TRIM_PITCH_CD>` to adjust cruise attitude will also add an offset to the artificial horizon on a GCS or an OSD, but this can be disabled, if desired, using the :ref:`FLIGHT_OPTIONS<FLIGHT_OPTIONS>` bitmask bits 8 and/or 9, if the attitude of the autopilot in level flight is desired, rather than a leveled artificial horizon when flying level .
 
 Without an Airspeed Sensor
 --------------------------