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Copter: make motor_out array private 

With new method of logging rc outputs access to the motor_out array is
not longer required
This commit is contained in:
Randy Mackay 2013-11-27 21:55:28 +09:00
parent a8929cd746
commit 9f2086baf2
1 changed files with 2 additions and 4 deletions
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6
libraries/AP_Motors/AP_Motors_Class.h
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@ -106,7 +106,7 @@ public:
// output_min - sends minimum values out to the motors // output_min - sends minimum values out to the motors
virtual void output_min() = 0; virtual void output_min() = 0;
// motor test // output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
virtual void output_test() = 0; virtual void output_test() = 0;
// throttle_pass_through - passes pilot's throttle input directly to all motors - dangerous but used for initialising ESCs // throttle_pass_through - passes pilot's throttle input directly to all motors - dangerous but used for initialising ESCs
@ -123,9 +123,6 @@ public:
// Note: this must be set immediately before a step up in throttle // Note: this must be set immediately before a step up in throttle
void slow_start(bool true_false); void slow_start(bool true_false);
// final output values sent to the motors. public (for now) so that they can be access for logging
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];
// structure for holding motor limit flags // structure for holding motor limit flags
struct AP_Motors_limit { struct AP_Motors_limit {
uint8_t roll_pitch : 1; // we have reached roll or pitch limit uint8_t roll_pitch : 1; // we have reached roll or pitch limit
@ -164,6 +161,7 @@ protected:
// internal variables // internal variables
RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users
uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2 uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final output values sent to the motors
uint16_t _speed_hz; // speed in hz to send updates to motors uint16_t _speed_hz; // speed in hz to send updates to motors
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying) int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start) int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)