AP_MotorsHeli: Overload output()

To protect it from future interference from Multirotor code.

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -258,6 +258,25 @@ void AP_MotorsHeli::enable()
     hal.rcout->enable_ch(AP_MOTORS_HELI_RSC);                               // output for main rotor esc
 }
 
+// output - sends commands to the servos
+void AP_MotorsHeli::output()
+{
+    // update throttle filter
+    update_throttle_filter();
+
+    if (_flags.armed) {
+        if (!_flags.interlock) {
+            output_armed_zero_throttle();
+        } else if (_flags.stabilizing) {
+            output_armed_stabilizing();
+        } else {
+            output_armed_not_stabilizing();
+        }
+    } else {
+        output_disarmed();
+    }
+};
+
 // output_min - sets servos to neutral point
 void AP_MotorsHeli::output_min()
 {

libraries/AP_Motors/AP_MotorsHeli.h

@@ -207,6 +207,9 @@ public:
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     virtual uint16_t    get_motor_mask();
 
+    // output - sends commands to the motors
+    void    output();
+
 protected:
 
     // output - sends commands to the motors

libraries/AP_Motors/AP_Motors_Class.h

@@ -142,7 +142,7 @@ public:
     void                set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
 
     // output - sends commands to the motors
-    void                output();
+    virtual void        output();
 
     // output_min - sends minimum values out to the motors
     virtual void        output_min() = 0;