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mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-12 02:48:28 -04:00

Copter: FlightMode: remove virtual from many methods

This commit is contained in:
Peter Barker 2017-03-08 18:56:23 +11:00 committed by Randy Mackay
parent ef1489e87a
commit 0ca5605b8d

View File

@ -79,46 +79,46 @@ protected:
// pass-through functions to reduce code churn on conversion; // pass-through functions to reduce code churn on conversion;
// these are candidates for moving into the FlightMode base // these are candidates for moving into the FlightMode base
// class. // class.
virtual void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max) { void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max) {
_copter.get_pilot_desired_lean_angles(roll_in, pitch_in, roll_out, pitch_out, angle_max); _copter.get_pilot_desired_lean_angles(roll_in, pitch_in, roll_out, pitch_out, angle_max);
} }
virtual float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt) { float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt) {
return _copter.get_surface_tracking_climb_rate(target_rate, current_alt_target, dt); return _copter.get_surface_tracking_climb_rate(target_rate, current_alt_target, dt);
} }
virtual float get_pilot_desired_yaw_rate(int16_t stick_angle) { float get_pilot_desired_yaw_rate(int16_t stick_angle) {
return _copter.get_pilot_desired_yaw_rate(stick_angle); return _copter.get_pilot_desired_yaw_rate(stick_angle);
} }
virtual float get_pilot_desired_climb_rate(float throttle_control) { float get_pilot_desired_climb_rate(float throttle_control) {
return _copter.get_pilot_desired_climb_rate(throttle_control); return _copter.get_pilot_desired_climb_rate(throttle_control);
} }
virtual float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid = 0.0f) { float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid = 0.0f) {
return _copter.get_pilot_desired_throttle(throttle_control, thr_mid); return _copter.get_pilot_desired_throttle(throttle_control, thr_mid);
} }
virtual float get_non_takeoff_throttle() { float get_non_takeoff_throttle() {
return _copter.get_non_takeoff_throttle(); return _copter.get_non_takeoff_throttle();
} }
virtual void update_simple_mode(void) { void update_simple_mode(void) {
_copter.update_simple_mode(); _copter.update_simple_mode();
} }
virtual float get_smoothing_gain() { float get_smoothing_gain() {
return _copter.get_smoothing_gain(); return _copter.get_smoothing_gain();
} }
virtual bool set_mode(control_mode_t mode, mode_reason_t reason) { bool set_mode(control_mode_t mode, mode_reason_t reason) {
return _copter.set_mode(mode, reason); return _copter.set_mode(mode, reason);
} }
virtual void set_land_complete(bool b) { void set_land_complete(bool b) {
return _copter.set_land_complete(b); return _copter.set_land_complete(b);
} }
GCS_Copter &gcs() { GCS_Copter &gcs() {
return _copter.gcs(); return _copter.gcs();
} }
virtual void Log_Write_Event(uint8_t id) { void Log_Write_Event(uint8_t id) {
return _copter.Log_Write_Event(id); return _copter.Log_Write_Event(id);
} }
virtual void set_throttle_takeoff() { void set_throttle_takeoff() {
return _copter.set_throttle_takeoff(); return _copter.set_throttle_takeoff();
} }
virtual void set_auto_yaw_mode(uint8_t yaw_mode) { void set_auto_yaw_mode(uint8_t yaw_mode) {
return _copter.set_auto_yaw_mode(yaw_mode); return _copter.set_auto_yaw_mode(yaw_mode);
} }
void set_auto_yaw_rate(float turn_rate_cds) { void set_auto_yaw_rate(float turn_rate_cds) {
@ -127,13 +127,13 @@ protected:
void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, bool relative_angle) { void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, bool relative_angle) {
return _copter.set_auto_yaw_look_at_heading(angle_deg, turn_rate_dps, direction, relative_angle); return _copter.set_auto_yaw_look_at_heading(angle_deg, turn_rate_dps, direction, relative_angle);
} }
virtual void takeoff_timer_start(float alt_cm) { void takeoff_timer_start(float alt_cm) {
return _copter.takeoff_timer_start(alt_cm); return _copter.takeoff_timer_start(alt_cm);
} }
virtual void takeoff_stop() { void takeoff_stop() {
return _copter.takeoff_stop(); return _copter.takeoff_stop();
} }
virtual void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate) { void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate) {
return _copter.takeoff_get_climb_rates(pilot_climb_rate, takeoff_climb_rate); return _copter.takeoff_get_climb_rates(pilot_climb_rate, takeoff_climb_rate);
} }
float get_auto_heading() { float get_auto_heading() {