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AP_MotorsMulticopter: output_to_motors and output_logic become protected

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This commit is contained in:
Randy Mackay 2016-06-04 14:50:08 +09:00
parent 02881b59ff
commit 818965fa57
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -42,9 +42,6 @@ public:
// output_min - sends minimum values out to the motors
void output_min();
// output_to_motors - sends commands to the motors
virtual void output_to_motors() = 0;
// set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm)
void set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; }
@ -65,8 +62,6 @@ public:
SPOOL_DOWN = 4, // decreasing maximum throttle while stabilizing
};
void output_logic();
// passes throttle directly to all motors for ESC calibration.
// throttle_input is in the range of 0 ~ 1 where 0 will send get_pwm_output_min() and 1 will send get_pwm_output_max()
void set_throttle_passthrough_for_esc_calibration(float throttle_input);
@ -109,6 +104,12 @@ public:
protected:
// run spool logic
void output_logic();
// output_to_motors - sends commands to the motors
virtual void output_to_motors() = 0;
// update the throttle input filter
virtual void update_throttle_filter();