AP_Motors: spool_mode moved out of flags struction

No functional change

libraries/AP_Motors/AP_MotorsCoax.cpp

@@ -114,7 +114,7 @@ void AP_MotorsCoax::enable()
 
 void AP_MotorsCoax::output_to_motors()
 {
-    switch (_multicopter_flags.spool_mode) {
+    switch (_spool_mode) {
         case SHUT_DOWN:
             // sends minimum values out to the motors
             hal.rcout->cork();

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -88,7 +88,7 @@ void AP_MotorsMatrix::output_to_motors()
     int8_t i;
     int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];    // final pwm values sent to the motor
 
-    switch (_multicopter_flags.spool_mode) {
+    switch (_spool_mode) {
         case SHUT_DOWN:
             // sends minimum values out to the motors
             // set motor output based on thrust requests

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -193,7 +193,7 @@ void AP_MotorsMulticopter::output()
 void AP_MotorsMulticopter::output_min()
 {
     set_desired_spool_state(DESIRED_SHUT_DOWN);
-    _multicopter_flags.spool_mode = SHUT_DOWN;
+    _spool_mode = SHUT_DOWN;
     output();
 }
 
@@ -385,10 +385,10 @@ void AP_MotorsMulticopter::output_logic()
     // force desired and current spool mode if disarmed or not interlocked
     if (!_flags.armed || !_flags.interlock) {
         _spool_desired = DESIRED_SHUT_DOWN;
-        _multicopter_flags.spool_mode = SHUT_DOWN;
+        _spool_mode = SHUT_DOWN;
     }
 
-    switch (_multicopter_flags.spool_mode) {
+    switch (_spool_mode) {
         case SHUT_DOWN:
             // Motors should be stationary.
             // Servos set to their trim values or in a test condition.
@@ -401,7 +401,7 @@ void AP_MotorsMulticopter::output_logic()
 
             // make sure the motors are spooling in the correct direction
             if (_spool_desired != DESIRED_SHUT_DOWN) {
-                _multicopter_flags.spool_mode = SPIN_WHEN_ARMED;
+                _spool_mode = SPIN_WHEN_ARMED;
                 break;
             }
 
@@ -427,14 +427,14 @@ void AP_MotorsMulticopter::output_logic()
                 // constrain ramp value and update mode
                 if (_spin_up_ratio <= 0.0f) {
                     _spin_up_ratio = 0.0f;
-                    _multicopter_flags.spool_mode = SHUT_DOWN;
+                    _spool_mode = SHUT_DOWN;
                 }
             } else if(_spool_desired == DESIRED_THROTTLE_UNLIMITED) {
                 _spin_up_ratio += spool_step;
                 // constrain ramp value and update mode
                 if (_spin_up_ratio >= 1.0f) {
                     _spin_up_ratio = 1.0f;
-                    _multicopter_flags.spool_mode = SPOOL_UP;
+                    _spool_mode = SPOOL_UP;
                 }
             } else {    // _spool_desired == SPIN_WHEN_ARMED
                 float spin_up_armed_ratio = 0.0f;
@@ -458,7 +458,7 @@ void AP_MotorsMulticopter::output_logic()
 
             // make sure the motors are spooling in the correct direction
             if (_spool_desired != DESIRED_THROTTLE_UNLIMITED ){
-                _multicopter_flags.spool_mode = SPOOL_DOWN;
+                _spool_mode = SPOOL_DOWN;
                 break;
             }
 
@@ -469,7 +469,7 @@ void AP_MotorsMulticopter::output_logic()
             // constrain ramp value and update mode
             if (_throttle_thrust_max >= MIN(get_throttle(), get_current_limit_max_throttle())) {
                 _throttle_thrust_max = get_current_limit_max_throttle();
-                _multicopter_flags.spool_mode = THROTTLE_UNLIMITED;
+                _spool_mode = THROTTLE_UNLIMITED;
             } else if (_throttle_thrust_max < 0.0f) {
                 _throttle_thrust_max = 0.0f;
             }
@@ -487,7 +487,7 @@ void AP_MotorsMulticopter::output_logic()
 
             // make sure the motors are spooling in the correct direction
             if (_spool_desired != DESIRED_THROTTLE_UNLIMITED) {
-                _multicopter_flags.spool_mode = SPOOL_DOWN;
+                _spool_mode = SPOOL_DOWN;
                 break;
             }
 
@@ -508,7 +508,7 @@ void AP_MotorsMulticopter::output_logic()
 
             // make sure the motors are spooling in the correct direction
             if (_spool_desired == DESIRED_THROTTLE_UNLIMITED) {
-                _multicopter_flags.spool_mode = SPOOL_UP;
+                _spool_mode = SPOOL_UP;
                 break;
             }
 
@@ -523,7 +523,7 @@ void AP_MotorsMulticopter::output_logic()
             if (_throttle_thrust_max >= get_current_limit_max_throttle()) {
                 _throttle_thrust_max = get_current_limit_max_throttle();
             } else if (is_zero(_throttle_thrust_max)) {
-                _multicopter_flags.spool_mode = SPIN_WHEN_ARMED;
+                _spool_mode = SPIN_WHEN_ARMED;
             }
             break;
     }

libraries/AP_Motors/AP_MotorsMulticopter.h

@@ -82,7 +82,7 @@ public:
     float               get_throttle_thrust_max() const { return _throttle_thrust_max; }
 
     // return true if spool up is complete
-    bool spool_up_complete() const { return _multicopter_flags.spool_mode == THROTTLE_UNLIMITED; }
+    bool spool_up_complete() const { return _spool_mode == THROTTLE_UNLIMITED; }
 
     // output a thrust to all motors that match a given motor
     // mask. This is used to control tiltrotor motors in forward
@@ -140,11 +140,6 @@ protected:
     // save parameters as part of disarming
     void save_params_on_disarm();
 
-    // flag bitmask
-    struct {
-        spool_up_down_mode     spool_mode       : 3;    // motor's current spool mode
-    } _multicopter_flags;
-
     // parameters
     AP_Int16            _yaw_headroom;          // yaw control is given at least this pwm range
     AP_Float            _thrust_curve_expo;     // curve used to linearize pwm to thrust conversion.  set to 0 for linear and 1 for second order approximation
@@ -166,6 +161,7 @@ protected:
     int16_t             _throttle_radio_max;        // maximum PWM from RC input's throttle channel (i.e. maximum PWM input from receiver, RC3_MAX)
 
     // spool variables
+    spool_up_down_mode  _spool_mode;         // motor's current spool mode
     float               _spin_up_ratio;      // throttle percentage (0 ~ 1) between zero and throttle_min
 
     // battery voltage, current and air pressure compensation variables

libraries/AP_Motors/AP_MotorsSingle.cpp

@@ -117,7 +117,7 @@ void AP_MotorsSingle::enable()
 
 void AP_MotorsSingle::output_to_motors()
 {
-    switch (_multicopter_flags.spool_mode) {
+    switch (_spool_mode) {
         case SHUT_DOWN:
             // sends minimum values out to the motors
             hal.rcout->cork();

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -124,7 +124,7 @@ void AP_MotorsTri::enable()
 
 void AP_MotorsTri::output_to_motors()
 {
-    switch (_multicopter_flags.spool_mode) {
+    switch (_spool_mode) {
         case SHUT_DOWN:
             // sends minimum values out to the motors
             hal.rcout->cork();