From 65eb9ceb32bb2bd55f3f02e482299fd0c3ac92db Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 26 May 2016 14:33:57 +1000 Subject: [PATCH] AP_Motors: expose min/max pwm --- libraries/AP_Motors/AP_MotorsMulticopter.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.h b/libraries/AP_Motors/AP_MotorsMulticopter.h index c1202f5120..4900ca3568 100644 --- a/libraries/AP_Motors/AP_MotorsMulticopter.h +++ b/libraries/AP_Motors/AP_MotorsMulticopter.h @@ -104,6 +104,10 @@ public: // flight. Thrust is in the range 0 to 1 void output_motor_mask(float thrust, uint8_t mask); + // get minimum or maximum pwm value that can be output to motors + int16_t get_pwm_output_min() const; + int16_t get_pwm_output_max() const; + // set thrust compensation callback FUNCTOR_TYPEDEF(thrust_compensation_fn_t, void, float *, uint8_t); void set_thrust_compensation_callback(thrust_compensation_fn_t callback) { @@ -142,10 +146,6 @@ protected: // convert thrust (0~1) range back to pwm range int16_t calc_thrust_to_pwm(float thrust_in) const; - // get minimum or maximum pwm value that can be output to motors - int16_t get_pwm_output_min() const; - int16_t get_pwm_output_max() const; - // apply any thrust compensation for the frame virtual void thrust_compensation(void) {}