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AP_Motors: move some functions to protected

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Also minor formatting fix
This commit is contained in:
Randy Mackay 2016-12-14 14:34:15 +09:00
parent 13ad06e652
commit 41189758b8
2 changed files with 13 additions and 16 deletions
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21
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -40,18 +40,6 @@ public:
// output_to_motors - sends minimum values out to the motors // output_to_motors - sends minimum values out to the motors
void output_to_motors(); void output_to_motors();
// add_motor using just position and yaw_factor (or prop direction)
void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
// add_motor using separate roll and pitch factors (for asymmetrical frames) and prop direction
void add_motor(int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order);
// remove_motor
void remove_motor(int8_t motor_num);
// remove_all_motors - removes all motor definitions
void remove_all_motors();
// setup_motors - configures the motors for a given frame type - should be overwritten by child classes // setup_motors - configures the motors for a given frame type - should be overwritten by child classes
virtual void setup_motors() { remove_all_motors(); }; virtual void setup_motors() { remove_all_motors(); };
@ -66,6 +54,15 @@ protected:
// add_motor using raw roll, pitch, throttle and yaw factors // add_motor using raw roll, pitch, throttle and yaw factors
void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order); void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);
// add_motor using just position and yaw_factor (or prop direction)
void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
// add_motor using separate roll and pitch factors (for asymmetrical frames) and prop direction
void add_motor(int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order);
// remove_motor
void remove_motor(int8_t motor_num);
// normalizes the roll, pitch and yaw factors so maximum magnitude is 0.5 // normalizes the roll, pitch and yaw factors so maximum magnitude is 0.5
void normalise_rpy_factors(); void normalise_rpy_factors();

8
libraries/AP_Motors/AP_Motors_Class.h
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@ -41,9 +41,6 @@ public:
// Constructor // Constructor
AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT); AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; }
// set frame orientation (normally + or X) // set frame orientation (normally + or X)
virtual void set_frame_orientation( uint8_t new_orientation ) { _flags.frame_orientation = new_orientation; } virtual void set_frame_orientation( uint8_t new_orientation ) { _flags.frame_orientation = new_orientation; }
@ -107,6 +104,9 @@ public:
// virtual functions that should be implemented by child classes // virtual functions that should be implemented by child classes
// //
// set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; }
// init // init
virtual void Init() = 0; virtual void Init() = 0;
@ -149,7 +149,7 @@ protected:
void add_motor_num(int8_t motor_num); void add_motor_num(int8_t motor_num);
// update the throttle input filter // update the throttle input filter
virtual void update_throttle_filter() = 0; virtual void update_throttle_filter() = 0;
// save parameters as part of disarming // save parameters as part of disarming
virtual void save_params_on_disarm() {} virtual void save_params_on_disarm() {}