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AP_Motors: make frame*string getters more const

This commit is contained in:
Mark Whitehorn 2020-12-09 09:41:22 -07:00 committed by Peter Barker
parent 236961f17f
commit 9bc8a8c912
11 changed files with 14 additions and 13 deletions
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2
libraries/AP_Motors/AP_Motors6DOF.h
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@ -29,7 +29,7 @@ public:
SUB_FRAME_CUSTOM
} sub_frame_t;
const char* get_frame_string() override { return _frame_class_string; };
const char* get_frame_string() const override { return _frame_class_string; };
// Override parent
void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override;

2
libraries/AP_Motors/AP_MotorsCoax.h
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@ -49,7 +49,7 @@ public:
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
const char* get_frame_string() override { return "COAX"; }
const char* get_frame_string() const override { return "COAX"; }
protected:
// output - sends commands to the motors

2
libraries/AP_Motors/AP_MotorsHeli.h
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@ -159,7 +159,7 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
const char* get_frame_string() override { return "HELI"; }
const char* get_frame_string() const override { return "HELI"; }
protected:

2
libraries/AP_Motors/AP_MotorsHeli_Dual.h
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@ -99,7 +99,7 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
const char* get_frame_string() override { return "HELI_DUAL"; }
const char* get_frame_string() const override { return "HELI_DUAL"; }
protected:

2
libraries/AP_Motors/AP_MotorsHeli_Quad.h
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@ -77,7 +77,7 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
const char* get_frame_string() override { return "HELI_QUAD"; }
const char* get_frame_string() const override { return "HELI_QUAD"; }
protected:

2
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -42,7 +42,7 @@ void AP_MotorsMatrix::init(motor_frame_class frame_class, motor_frame_type frame
// dedicated init for lua scripting
bool AP_MotorsMatrix::init(uint8_t expected_num_motors)
{
if (_last_frame_class != MOTOR_FRAME_SCRIPTING_MATRIX) {
if (_active_frame_class != MOTOR_FRAME_SCRIPTING_MATRIX) {
// not the correct class
return false;
}

5
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -70,8 +70,9 @@ public:
// using copter motors for forward flight
float get_roll_factor(uint8_t i) override { return _roll_factor[i]; }
const char* get_frame_string() override { return _frame_class_string; }
const char* get_type_string() override { return _frame_type_string; }
const char* get_frame_string() const override { return _frame_class_string; }
const char* get_type_string() const override { return _frame_type_string; }
// disable the use of motor torque to control yaw. Used when an external mechanism such
// as vectoring is used for yaw control
void disable_yaw_torque(void) override;

2
libraries/AP_Motors/AP_MotorsSingle.h
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@ -49,7 +49,7 @@ public:
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
const char* get_frame_string() override { return "SINGLE"; }
const char* get_frame_string() const override { return "SINGLE"; }
protected:
// output - sends commands to the motors

2
libraries/AP_Motors/AP_MotorsTailsitter.h
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@ -33,7 +33,7 @@ public:
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
const char* get_frame_string() override { return "TAILSITTER"; }
const char* get_frame_string() const override { return "TAILSITTER"; }
protected:
// calculate motor outputs

2
libraries/AP_Motors/AP_MotorsTri.h
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@ -54,7 +54,7 @@ public:
// using copter motors for forward flight
float get_roll_factor(uint8_t i) override;
const char* get_frame_string() override { return "TRI"; }
const char* get_frame_string() const override { return "TRI"; }
protected:
// output - sends commands to the motors

4
libraries/AP_Motors/AP_Motors_Class.h
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@ -49,7 +49,7 @@ public:
};
// return string corresponding to frame_class
virtual const char* get_frame_string() = 0;
virtual const char* get_frame_string() const = 0;
enum motor_frame_type {
MOTOR_FRAME_TYPE_PLUS = 0,
@ -71,7 +71,7 @@ public:
};
// return string corresponding to frame_type
virtual const char* get_type_string() { return ""; }
virtual const char* get_type_string() const { return ""; }
// Constructor
AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);