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Motors: add loop_rate to constructor for all frames

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This commit is contained in:
Randy Mackay 2015-02-21 15:46:22 +09:00
parent 77d4b3a2ae
commit 7ab76dbd0e
10 changed files with 15 additions and 14 deletions
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4
libraries/AP_Motors/AP_MotorsCoax.h
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@ -25,8 +25,8 @@ class AP_MotorsCoax : public AP_Motors {
public: public:
/// Constructor /// Constructor
AP_MotorsCoax( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& servo1, RC_Channel& servo2, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsCoax( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& servo1, RC_Channel& servo2, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz),
_servo1(servo1), _servo1(servo1),
_servo2(servo2) _servo2(servo2)
{ {

3
libraries/AP_Motors/AP_MotorsHeli.h
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@ -97,8 +97,9 @@ public:
RC_Channel& swash_servo_2, RC_Channel& swash_servo_2,
RC_Channel& swash_servo_3, RC_Channel& swash_servo_3,
RC_Channel& yaw_servo, RC_Channel& yaw_servo,
uint16_t loop_rate,
uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) : uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz),
_servo_aux(servo_aux), _servo_aux(servo_aux),
_servo_rsc(servo_rotor), _servo_rsc(servo_rotor),
_servo_1(swash_servo_1), _servo_1(swash_servo_1),

2
libraries/AP_Motors/AP_MotorsHexa.h
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@ -16,7 +16,7 @@ class AP_MotorsHexa : public AP_MotorsMatrix {
public: public:
/// Constructor /// Constructor
AP_MotorsHexa( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) { AP_MotorsHexa(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
}; };
// setup_motors - configures the motors for a quad // setup_motors - configures the motors for a quad

4
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -19,8 +19,8 @@ class AP_MotorsMatrix : public AP_Motors {
public: public:
/// Constructor /// Constructor
AP_MotorsMatrix( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz)
{}; {};
// init // init

2
libraries/AP_Motors/AP_MotorsOcta.h
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@ -16,7 +16,7 @@ class AP_MotorsOcta : public AP_MotorsMatrix {
public: public:
/// Constructor /// Constructor
AP_MotorsOcta( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) { AP_MotorsOcta(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
}; };
// setup_motors - configures the motors for a quad // setup_motors - configures the motors for a quad

2
libraries/AP_Motors/AP_MotorsOctaQuad.h
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@ -16,7 +16,7 @@ class AP_MotorsOctaQuad : public AP_MotorsMatrix {
public: public:
/// Constructor /// Constructor
AP_MotorsOctaQuad( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) { AP_MotorsOctaQuad(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
}; };
// setup_motors - configures the motors for a quad // setup_motors - configures the motors for a quad

2
libraries/AP_Motors/AP_MotorsQuad.h
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@ -16,7 +16,7 @@ class AP_MotorsQuad : public AP_MotorsMatrix {
public: public:
/// Constructor /// Constructor
AP_MotorsQuad( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) { AP_MotorsQuad(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
}; };
// setup_motors - configures the motors for a quad // setup_motors - configures the motors for a quad

4
libraries/AP_Motors/AP_MotorsSingle.h
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@ -25,8 +25,8 @@ class AP_MotorsSingle : public AP_Motors {
public: public:
/// Constructor /// Constructor
AP_MotorsSingle( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& servo1, RC_Channel& servo2, RC_Channel& servo3, RC_Channel& servo4, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsSingle(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& servo1, RC_Channel& servo2, RC_Channel& servo3, RC_Channel& servo4, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz),
_servo1(servo1), _servo1(servo1),
_servo2(servo2), _servo2(servo2),
_servo3(servo3), _servo3(servo3),

4
libraries/AP_Motors/AP_MotorsTri.h
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@ -19,8 +19,8 @@ class AP_MotorsTri : public AP_Motors {
public: public:
/// Constructor /// Constructor
AP_MotorsTri( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& rc_tail, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsTri(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& rc_tail, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz),
_rc_tail(rc_tail) { _rc_tail(rc_tail) {
}; };

2
libraries/AP_Motors/AP_MotorsY6.h
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@ -18,7 +18,7 @@ class AP_MotorsY6 : public AP_MotorsMatrix {
public: public:
/// Constructor /// Constructor
AP_MotorsY6( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) { AP_MotorsY6(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
}; };
// setup_motors - configures the motors for a quad // setup_motors - configures the motors for a quad