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AP_MotorsHeli: calculate_scalars made protected 

No functional change
This commit is contained in:
Randy Mackay 2016-02-18 11:28:54 +09:00
parent 165d739b45
commit 2e8acf1f74
1 changed files with 18 additions and 18 deletions
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36
libraries/AP_Motors/AP_MotorsHeli.h
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@ -115,26 +115,21 @@ public:
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight // rotor_speed_above_critical - return true if rotor speed is above that critical for flight
virtual bool rotor_speed_above_critical() const = 0; virtual bool rotor_speed_above_critical() const = 0;
// calculate_scalars - must be implemented by child classes
virtual void calculate_scalars() = 0;
// calculate_armed_scalars - must be implemented by child classes
virtual void calculate_armed_scalars() = 0;
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used) // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict // this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
virtual uint16_t get_motor_mask() = 0; virtual uint16_t get_motor_mask() = 0;
// servo_test - move servos through full range of movement
// to be overloaded by child classes, different vehicle types would have different movement patterns
virtual void servo_test() = 0;
// output - sends commands to the motors // output - sends commands to the motors
void output(); void output();
// supports_yaw_passthrough
virtual bool supports_yaw_passthrough() const { return false; }
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// manual servo modes (used for setup) // manual servo modes (used for setup)
enum ServoControlModes { enum ServoControlModes {
SERVO_CONTROL_MODE_AUTOMATED = 0, SERVO_CONTROL_MODE_AUTOMATED = 0,
@ -145,11 +140,6 @@ public:
SERVO_CONTROL_MODE_MANUAL_OSCILLATE, SERVO_CONTROL_MODE_MANUAL_OSCILLATE,
}; };
// supports_yaw_passthrough
virtual bool supports_yaw_passthrough() const { return false; }
protected:
// output - sends commands to the motors // output - sends commands to the motors
void output_armed_stabilizing(); void output_armed_stabilizing();
void output_armed_zero_throttle(); void output_armed_zero_throttle();
@ -173,9 +163,19 @@ protected:
// init_outputs - initialise Servo/PWM ranges and endpoints // init_outputs - initialise Servo/PWM ranges and endpoints
virtual void init_outputs() = 0; virtual void init_outputs() = 0;
// calculate_armed_scalars - must be implemented by child classes
virtual void calculate_armed_scalars() = 0;
// calculate_scalars - must be implemented by child classes
virtual void calculate_scalars() = 0;
// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position // calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
virtual void calculate_roll_pitch_collective_factors() = 0; virtual void calculate_roll_pitch_collective_factors() = 0;
// servo_test - move servos through full range of movement
// to be overloaded by child classes, different vehicle types would have different movement patterns
virtual void servo_test() = 0;
// flags bitmask // flags bitmask
struct heliflags_type { struct heliflags_type {
uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum