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AP_Motors: add override keyword where required

This commit is contained in:
Peter Barker 2018-11-07 22:00:51 +11:00 committed by Andrew Tridgell
parent 2993ffb588
commit f2070da335
7 changed files with 40 additions and 40 deletions
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10
libraries/AP_Motors/AP_MotorsCoax.h
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@ -29,13 +29,13 @@ public:
};
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type);
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@ -43,7 +43,7 @@ public:
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors();
virtual void output_to_motors() override;
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
@ -51,7 +51,7 @@ public:
protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_stabilizing() override;
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_yt_ccw;

18
libraries/AP_Motors/AP_MotorsHeli.h
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@ -59,16 +59,16 @@ public:
};
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type);
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) = 0;
virtual void set_update_rate( uint16_t speed_hz ) override = 0;
// output_min - sets servos to neutral point with motors stopped
void output_min();
void output_min() override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@ -114,7 +114,7 @@ public:
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
virtual uint16_t get_motor_mask() = 0;
virtual uint16_t get_motor_mask() override = 0;
virtual void set_acro_tail(bool set) {}
@ -122,12 +122,12 @@ public:
virtual void ext_gyro_gain(float gain) {}
// output - sends commands to the motors
void output();
void output() override;
// supports_yaw_passthrough
virtual bool supports_yaw_passthrough() const { return false; }
float get_throttle_hover() const { return 0.5f; }
float get_throttle_hover() const override { return 0.5f; }
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
@ -145,7 +145,7 @@ protected:
};
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_stabilizing() override;
void output_armed_zero_throttle();
void output_disarmed();
@ -156,7 +156,7 @@ protected:
void reset_flight_controls();
// update the throttle input filter
void update_throttle_filter();
void update_throttle_filter() override;
// move_actuators - moves swash plate and tail rotor
virtual void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) = 0;

12
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -20,14 +20,14 @@ public:
{};
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type);
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set update rate to motors - a value in hertz
// you must have setup_motors before calling this
void set_update_rate(uint16_t speed_hz);
void set_update_rate(uint16_t speed_hz) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@ -42,18 +42,18 @@ public:
bool output_test_num(uint8_t motor, int16_t pwm);
// output_to_motors - sends minimum values out to the motors
void output_to_motors();
void output_to_motors() override;
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
// return number of motor that has failed. Should only be called if get_thrust_boost() returns true
uint8_t get_lost_motor() const { return _motor_lost_index; }
uint8_t get_lost_motor() const override { return _motor_lost_index; }
protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_stabilizing() override;
// check for failed motor
void check_for_failed_motor(float throttle_thrust_best);

10
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -37,10 +37,10 @@ public:
AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// output - sends commands to the motors
virtual void output();
virtual void output() override;
// output_min - sends minimum values out to the motors
void output_min();
void output_min() override;
// 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; }
@ -51,7 +51,7 @@ public:
// update estimated throttle required to hover
void update_throttle_hover(float dt);
virtual float get_throttle_hover() const { return _throttle_hover; }
virtual float get_throttle_hover() const override { return _throttle_hover; }
// spool up states
enum spool_up_down_mode {
@ -112,7 +112,7 @@ protected:
virtual void output_to_motors() = 0;
// update the throttle input filter
virtual void update_throttle_filter();
virtual void update_throttle_filter() override;
// return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
virtual float get_current_limit_max_throttle();
@ -139,7 +139,7 @@ protected:
virtual void output_boost_throttle(void);
// save parameters as part of disarming
void save_params_on_disarm();
void save_params_on_disarm() override;
// enum values for HOVER_LEARN parameter
enum HoverLearn {

10
libraries/AP_Motors/AP_MotorsSingle.h
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@ -29,13 +29,13 @@ public:
};
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type);
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@ -43,7 +43,7 @@ public:
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors();
virtual void output_to_motors() override;
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
@ -51,7 +51,7 @@ public:
protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_stabilizing() override;
int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range

10
libraries/AP_Motors/AP_MotorsTailsitter.h
View File

@ -15,23 +15,23 @@ public:
AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type);
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) {}
void set_update_rate( uint16_t speed_hz ) {}
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {}
void set_update_rate( uint16_t speed_hz ) override {}
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override {}
// output_to_motors - sends output to named servos
void output_to_motors();
void output_to_motors() override;
// return 0 motor mask
uint16_t get_motor_mask() override { return 0; }
protected:
// calculate motor outputs
void output_armed_stabilizing();
void output_armed_stabilizing() override;
// calculated outputs
float _aileron; // -1..1

10
libraries/AP_Motors/AP_MotorsTri.h
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@ -24,13 +24,13 @@ public:
};
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type);
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@ -38,7 +38,7 @@ public:
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors();
virtual void output_to_motors() override;
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
@ -51,7 +51,7 @@ public:
protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_stabilizing() override;
// call vehicle supplied thrust compensation if set
void thrust_compensation(void) override;