From 260d018db9bc85e45f18471d31e93070341143b5 Mon Sep 17 00:00:00 2001 From: Fredrik Hedberg Date: Thu, 6 Aug 2015 10:25:31 +0200 Subject: [PATCH] AP_Motors: Rename output_yaw to move_yaw in AP_MotorsHeli_Single. --- libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 6 +++--- libraries/AP_Motors/AP_MotorsHeli_Single.h | 4 +++- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp index 8de6e12248..c967f4ecf9 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp @@ -463,11 +463,11 @@ void AP_MotorsHeli_Single::move_swash(int16_t roll_out, int16_t pitch_out, int16 hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo_3.radio_out); // update the yaw rate using the tail rotor/servo - output_yaw(yaw_out + yaw_offset); + move_yaw(yaw_out + yaw_offset); } -// output_yaw -void AP_MotorsHeli_Single::output_yaw(int16_t yaw_out) +// move_yaw +void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out) { _servo_4.servo_out = constrain_int16(yaw_out, -4500, 4500); diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h index 05db269cca..74319dfcaa 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Single.h +++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h @@ -129,7 +129,6 @@ protected: // output - sends commands to the motors void output_armed_stabilizing(); void output_disarmed(); - void output_yaw(int16_t yaw_out); // reset_servos - free up the swash servos for maximum movement void reset_servos(); @@ -143,6 +142,9 @@ protected: // heli_move_swash - moves swash plate to attitude of parameters passed in void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out); + // move_yaw - moves the yaw servo + void move_yaw(int16_t yaw_out); + // write_aux - outputs pwm onto output aux channel (ch7). servo_out parameter is of the range 0 ~ 1000 void write_aux(int16_t servo_out);