From 73bafa131ef170c1ef8e350979bcbd4bc44bbd88 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Thu, 21 May 2015 14:33:18 -0400
Subject: [PATCH] AP_MotorsHeli: Overload output()

To protect it from future interference from Multirotor code.
---
 libraries/AP_Motors/AP_MotorsHeli.cpp | 19 +++++++++++++++++++
 libraries/AP_Motors/AP_MotorsHeli.h   |  3 +++
 libraries/AP_Motors/AP_Motors_Class.h |  2 +-
 3 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 9bf7c2648f..9e42c0c948 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/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()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 230901e2d4..f94f92d63b 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/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
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index fb1eec72a2..0f343244cd 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/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;