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Heli Swashplate: Make motor numbers const #27012

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merged 1 commit into from
May 9, 2024
+3 −7
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Heli Swashplate: Make motor numbers const #27012

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8 changes: 2 additions & 6 deletions libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,13 +88,9 @@ const AP_Param::GroupInfo AP_MotorsHeli_Swash::var_info[] = {
};

AP_MotorsHeli_Swash::AP_MotorsHeli_Swash(uint8_t mot_0, uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t instance) :
_instance(instance)
_instance(instance),
_motor_num{mot_0, mot_1, mot_2, mot_3}
{
_motor_num[0] = mot_0;
_motor_num[1] = mot_1;
_motor_num[2] = mot_2;
_motor_num[3] = mot_3;

AP_Param::setup_object_defaults(this, var_info);
}

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2 changes: 1 addition & 1 deletion libraries/AP_Motors/AP_MotorsHeli_Swash.h
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Expand Up @@ -81,7 +81,7 @@ class AP_MotorsHeli_Swash {
float _pitchFactor[_max_num_servos]; // Pitch axis scaling of servo output based on servo position
float _collectiveFactor[_max_num_servos]; // Collective axis scaling of servo output based on servo position
float _output[_max_num_servos]; // Servo output value
uint8_t _motor_num[_max_num_servos]; // Motor function to use for output
const uint8_t _motor_num[_max_num_servos]; // Motor function to use for output
const uint8_t _instance; // Swashplate instance. Used for logging.

// Variables stored for logging
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