Motors: add loop_rate to constructor for all frames

WickedShell · Mar 3, 2015 · 7ab76db · 7ab76db
1 parent 77d4b3a
commit 7ab76db
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Showing 10 changed files with 15 additions and 14 deletions.
diff --git a/libraries/AP_Motors/AP_MotorsCoax.h b/libraries/AP_Motors/AP_MotorsCoax.h
@@ -25,8 +25,8 @@ class AP_MotorsCoax : public AP_Motors {
 public:
 
     /// 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_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
+    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, loop_rate, speed_hz),
         _servo1(servo1),
         _servo2(servo2)
     {

diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -97,8 +97,9 @@ class AP_MotorsHeli : public AP_Motors {
                    RC_Channel&      swash_servo_2,
                    RC_Channel&      swash_servo_3,
                    RC_Channel&      yaw_servo,
+                   uint16_t         loop_rate,
                    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_rsc(servo_rotor),
         _servo_1(swash_servo_1),

diff --git a/libraries/AP_Motors/AP_MotorsHexa.h b/libraries/AP_Motors/AP_MotorsHexa.h
@@ -16,7 +16,7 @@ class AP_MotorsHexa : public AP_MotorsMatrix {
 public:
 
     /// 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

diff --git a/libraries/AP_Motors/AP_MotorsMatrix.h b/libraries/AP_Motors/AP_MotorsMatrix.h
@@ -19,8 +19,8 @@ class AP_MotorsMatrix : public AP_Motors {
 public:
 
     /// 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_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz)
+    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, loop_rate, speed_hz)
     {};
 
     // init

diff --git a/libraries/AP_Motors/AP_MotorsOcta.h b/libraries/AP_Motors/AP_MotorsOcta.h
@@ -16,7 +16,7 @@ class AP_MotorsOcta : public AP_MotorsMatrix {
 public:
 
     /// 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

diff --git a/libraries/AP_Motors/AP_MotorsOctaQuad.h b/libraries/AP_Motors/AP_MotorsOctaQuad.h
@@ -16,7 +16,7 @@ class AP_MotorsOctaQuad : public AP_MotorsMatrix {
 public:
 
     /// 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

diff --git a/libraries/AP_Motors/AP_MotorsQuad.h b/libraries/AP_Motors/AP_MotorsQuad.h
@@ -16,7 +16,7 @@ class AP_MotorsQuad : public AP_MotorsMatrix {
 public:
 
     /// 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

diff --git a/libraries/AP_Motors/AP_MotorsSingle.h b/libraries/AP_Motors/AP_MotorsSingle.h
@@ -25,8 +25,8 @@ class AP_MotorsSingle : public AP_Motors {
 public:
 
     /// 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_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
+    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, loop_rate, speed_hz),
         _servo1(servo1),
         _servo2(servo2),
         _servo3(servo3),

diff --git a/libraries/AP_Motors/AP_MotorsTri.h b/libraries/AP_Motors/AP_MotorsTri.h
@@ -19,8 +19,8 @@ class AP_MotorsTri : public AP_Motors {
 public:
 
     /// 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_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
+    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, loop_rate, speed_hz),
         _rc_tail(rc_tail) {
     };
 

diff --git a/libraries/AP_Motors/AP_MotorsY6.h b/libraries/AP_Motors/AP_MotorsY6.h
@@ -18,7 +18,7 @@ class AP_MotorsY6 : public AP_MotorsMatrix {
 public:
 
     /// 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