From 5f9701bb673d12c0182629f0b41083f6889b5c1e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 16 Jan 2025 15:43:37 +1100
Subject: [PATCH] AR_Motors: rename SRV_Channel::Aux_servo_function_t to
 SRV_Channel::Function

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 10 +++++-----
 libraries/AR_Motors/AP_MotorsUGV.h   |  4 ++--
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index 4b63101d5f..71536a7ad5 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -206,7 +206,7 @@ void AP_MotorsUGV::setup_servo_output()
 
     // omni motors set in power percent so -100 ... 100
     for (uint8_t i=0; i<AP_MOTORS_NUM_MOTORS_MAX; i++) {
-        SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
+        SRV_Channel::Function function = SRV_Channels::get_motor_function(i);
         SRV_Channels::set_angle(function, 100);
     }
 
@@ -520,7 +520,7 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
     }
     // check all omni motor outputs have been configured
     for (uint8_t i=0; i<_motors_num; i++) {
-        SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
+        SRV_Channel::Function function = SRV_Channels::get_motor_function(i);
         if (!SRV_Channels::function_assigned(function)) {
             if (report) {
                 GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: servo function %u unassigned", function);
@@ -681,7 +681,7 @@ void AP_MotorsUGV::add_omni_motor_num(int8_t motor_num)
     // ensure a valid motor number is provided
     if (motor_num >= 0 && motor_num < AP_MOTORS_NUM_MOTORS_MAX) {
         uint8_t chan;
-        SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(motor_num);
+        SRV_Channel::Function function = SRV_Channels::get_motor_function(motor_num);
         SRV_Channels::set_aux_channel_default(function, motor_num);
         if (!SRV_Channels::find_channel(function, chan)) {
             GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
@@ -975,7 +975,7 @@ void AP_MotorsUGV::output_omni(bool armed, float steering, float throttle, float
 }
 
 // output throttle value to main throttle channel, left throttle or right throttle.  throttle should be scaled from -100 to 100
-void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, float throttle, float dt)
+void AP_MotorsUGV::output_throttle(SRV_Channel::Function function, float throttle, float dt)
 {
     // sanity check servo function
     if (function != SRV_Channel::k_throttle && function != SRV_Channel::k_throttleLeft && function != SRV_Channel::k_throttleRight && function != SRV_Channel::k_motor1 && function != SRV_Channel::k_motor2 && function != SRV_Channel::k_motor3 && function!= SRV_Channel::k_motor4) {
@@ -1110,7 +1110,7 @@ float AP_MotorsUGV::get_scaled_throttle(float throttle) const
 }
 
 // use rate controller to achieve desired throttle
-float AP_MotorsUGV::get_rate_controlled_throttle(SRV_Channel::Aux_servo_function_t function, float throttle, float dt)
+float AP_MotorsUGV::get_rate_controlled_throttle(SRV_Channel::Function function, float throttle, float dt)
 {
     // require non-zero dt
     if (!is_positive(dt)) {
diff --git a/libraries/AR_Motors/AP_MotorsUGV.h b/libraries/AR_Motors/AP_MotorsUGV.h
index 45df9fe2b5..6d26e3b9b4 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.h
+++ b/libraries/AR_Motors/AP_MotorsUGV.h
@@ -172,7 +172,7 @@ private:
 
     // output throttle (-100 ~ +100) to a throttle channel.  Sets relays if required
     // dt is the main loop time interval and is required when rate control is required
-    void output_throttle(SRV_Channel::Aux_servo_function_t function, float throttle, float dt = 0.0f);
+    void output_throttle(SRV_Channel::Function function, float throttle, float dt = 0.0f);
 
     // output for sailboat's mainsail in the range of 0 to 100 and wing sail in the range +- 100
     void output_sail();
@@ -190,7 +190,7 @@ private:
     float get_scaled_throttle(float throttle) const;
 
     // use rate controller to achieve desired throttle
-    float get_rate_controlled_throttle(SRV_Channel::Aux_servo_function_t function, float throttle, float dt);
+    float get_rate_controlled_throttle(SRV_Channel::Function function, float throttle, float dt);
 
     // external references
     AP_WheelRateControl &_rate_controller;