AC_AttitudeControl: expose all functions via abstract class

this allows for a single class to be used for heli and multicopter

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -238,6 +238,26 @@ public:
     // sanity check parameters.  should be called once before take-off
     virtual void parameter_sanity_check() {}
 
+    // return true if the rpy mix is at lowest value
+    virtual bool is_throttle_mix_min() const { return true; }
+
+    // control rpy throttle mix
+    virtual void set_throttle_mix_min() {}
+    virtual void set_throttle_mix_mid() {}
+    virtual void set_throttle_mix_max() {}
+
+    // enable use of flybass passthrough on heli
+    virtual void use_flybar_passthrough(bool passthrough, bool tail_passthrough) {}
+
+	// use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage on heli
+	virtual void use_leaky_i(bool leaky_i) {}
+
+    // set_hover_roll_scalar - scales Hover Roll Trim parameter. To be used by vehicle code according to vehicle condition.
+    virtual void set_hover_roll_trim_scalar(float scalar) {}
+
+    // passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
+    virtual void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds) {};
+    
     // User settable parameters
     static const struct AP_Param::GroupInfo var_info[];
 

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

@@ -60,13 +60,8 @@ public:
     AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; }
     AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; }
 
-    // same as above but allows accessing heli specific pid methods - used only by Copter's tuning.cpp
-    AC_HELI_PID& get_heli_rate_roll_pid() { return _pid_rate_roll; }
-    AC_HELI_PID& get_heli_rate_pitch_pid() { return _pid_rate_pitch; }
-    AC_HELI_PID& get_heli_rate_yaw_pid() { return _pid_rate_yaw; }
-
     // passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
-    void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds);
+    void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds) override;
 
     // Integrate vehicle rate into _att_error_rot_vec_rad
     void integrate_bf_rate_error_to_angle_errors();
@@ -82,11 +77,11 @@ public:
     void update_althold_lean_angle_max(float throttle_in) override;
 
 	// use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage
-	void use_leaky_i(bool leaky_i) {  _flags_heli.leaky_i = leaky_i; }
+	void use_leaky_i(bool leaky_i) override {  _flags_heli.leaky_i = leaky_i; }
     
     // use_flybar_passthrough - controls whether we pass-through
     // control inputs to swash-plate and tail
-    void use_flybar_passthrough(bool passthrough, bool tail_passthrough) {  
+    void use_flybar_passthrough(bool passthrough, bool tail_passthrough) override {  
         _flags_heli.flybar_passthrough = passthrough; 
         _flags_heli.tail_passthrough = tail_passthrough; 
     }
@@ -95,7 +90,7 @@ public:
     void do_piro_comp(bool piro_comp) { _flags_heli.do_piro_comp = piro_comp; }
 
     // set_hover_roll_scalar - scales Hover Roll Trim parameter. To be used by vehicle code according to vehicle condition.
-    void set_hover_roll_trim_scalar(float scalar) {_hover_roll_trim_scalar = constrain_float(scalar, 0.0f, 1.0f);}
+    void set_hover_roll_trim_scalar(float scalar) override {_hover_roll_trim_scalar = constrain_float(scalar, 0.0f, 1.0f);}
 
     // Set output throttle
     void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override;

libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h

@@ -63,12 +63,12 @@ public:
     // set desired throttle vs attitude mixing (actual mix is slewed towards this value over 1~2 seconds)
     //  low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
     //  has no effect when throttle is above hover throttle
-    void set_throttle_mix_min() { _throttle_rpy_mix_desired = _thr_mix_min; }
-    void set_throttle_mix_mid() { _throttle_rpy_mix_desired = AC_ATTITUDE_CONTROL_MID_DEFAULT; }
-    void set_throttle_mix_max() { _throttle_rpy_mix_desired = _thr_mix_max; }
+    void set_throttle_mix_min() override { _throttle_rpy_mix_desired = _thr_mix_min; }
+    void set_throttle_mix_mid() override { _throttle_rpy_mix_desired = AC_ATTITUDE_CONTROL_MID_DEFAULT; }
+    void set_throttle_mix_max() override { _throttle_rpy_mix_desired = _thr_mix_max; }
 
-    // get_throttle_rpy_mix - get low throttle compensation value
-    bool is_throttle_mix_min() const { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
+    // are we producing min throttle?
+    bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
 
     // run lowest level body-frame rate controller and send outputs to the motors
     void rate_controller_run();