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AC_AttitudeControl: add override keyword in many places

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Peter Barker 2018-11-07 21:57:10 +11:00 committed by Andrew Tridgell
parent f00636e794
commit 7e3ca19308
3 changed files with 15 additions and 15 deletions
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10
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -57,9 +57,9 @@ public:
} }
// pid accessors // pid accessors
AC_PID& get_rate_roll_pid() { return _pid_rate_roll; } AC_PID& get_rate_roll_pid() override { return _pid_rate_roll; }
AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; } AC_PID& get_rate_pitch_pid() override { return _pid_rate_pitch; }
AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; } AC_PID& get_rate_yaw_pid() override { return _pid_rate_yaw; }
// passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw // passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds) override; void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds) override;
@ -72,7 +72,7 @@ public:
// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors // rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
// should be called at 100hz or more // should be called at 100hz or more
virtual void rate_controller_run(); virtual void rate_controller_run() override;
// Update Alt_Hold angle maximum // Update Alt_Hold angle maximum
void update_althold_lean_angle_max(float throttle_in) override; void update_althold_lean_angle_max(float throttle_in) override;
@ -143,7 +143,7 @@ private:
int16_t _passthrough_yaw; int16_t _passthrough_yaw;
// get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover // get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover
float get_roll_trim_rad() { return constrain_float(radians(_hover_roll_trim_scalar * _hover_roll_trim * 0.01f), -radians(10.0f),radians(10.0f));} float get_roll_trim_rad() override { return constrain_float(radians(_hover_roll_trim_scalar * _hover_roll_trim * 0.01f), -radians(10.0f),radians(10.0f));}
// internal variables // internal variables
float _hover_roll_trim_scalar = 0; // scalar used to suppress Hover Roll Trim float _hover_roll_trim_scalar = 0; // scalar used to suppress Hover Roll Trim

10
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -47,9 +47,9 @@ public:
virtual ~AC_AttitudeControl_Multi() {} virtual ~AC_AttitudeControl_Multi() {}
// pid accessors // pid accessors
AC_PID& get_rate_roll_pid() { return _pid_rate_roll; } AC_PID& get_rate_roll_pid() override { return _pid_rate_roll; }
AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; } AC_PID& get_rate_pitch_pid() override { return _pid_rate_pitch; }
AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; } AC_PID& get_rate_yaw_pid() override { return _pid_rate_yaw; }
// Update Alt_Hold angle maximum // Update Alt_Hold angle maximum
void update_althold_lean_angle_max(float throttle_in) override; void update_althold_lean_angle_max(float throttle_in) override;
@ -73,10 +73,10 @@ public:
bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); } bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
// run lowest level body-frame rate controller and send outputs to the motors // run lowest level body-frame rate controller and send outputs to the motors
void rate_controller_run(); void rate_controller_run() override;
// sanity check parameters. should be called once before take-off // sanity check parameters. should be called once before take-off
void parameter_sanity_check(); void parameter_sanity_check() override;
// user settable parameters // user settable parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];

10
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
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@ -31,9 +31,9 @@ public:
virtual ~AC_AttitudeControl_Sub() {} virtual ~AC_AttitudeControl_Sub() {}
// pid accessors // pid accessors
AC_PID& get_rate_roll_pid() { return _pid_rate_roll; } AC_PID& get_rate_roll_pid() override { return _pid_rate_roll; }
AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; } AC_PID& get_rate_pitch_pid() override { return _pid_rate_pitch; }
AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; } AC_PID& get_rate_yaw_pid() override { return _pid_rate_yaw; }
// Update Alt_Hold angle maximum // Update Alt_Hold angle maximum
void update_althold_lean_angle_max(float throttle_in) override; void update_althold_lean_angle_max(float throttle_in) override;
@ -55,10 +55,10 @@ public:
bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); } bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
// run lowest level body-frame rate controller and send outputs to the motors // run lowest level body-frame rate controller and send outputs to the motors
void rate_controller_run(); void rate_controller_run() override;
// sanity check parameters. should be called once before take-off // sanity check parameters. should be called once before take-off
void parameter_sanity_check(); void parameter_sanity_check() override;
// user settable parameters // user settable parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];