AP_Motors: move some functions to protected

Also minor formatting fix

libraries/AP_Motors/AP_MotorsMatrix.h

@@ -40,18 +40,6 @@ public:
     // output_to_motors - sends minimum values out to the motors
     void                output_to_motors();
 
-    // add_motor using just position and yaw_factor (or prop direction)
-    void                add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
-
-    // add_motor using separate roll and pitch factors (for asymmetrical frames) and prop direction
-    void                add_motor(int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order);
-
-    // remove_motor
-    void                remove_motor(int8_t motor_num);
-
-    // remove_all_motors - removes all motor definitions
-    void                remove_all_motors();
-
     // setup_motors - configures the motors for a given frame type - should be overwritten by child classes
     virtual void        setup_motors() { remove_all_motors(); };
 
@@ -66,6 +54,15 @@ protected:
     // add_motor using raw roll, pitch, throttle and yaw factors
     void                add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);
 
+    // add_motor using just position and yaw_factor (or prop direction)
+    void                add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
+
+    // add_motor using separate roll and pitch factors (for asymmetrical frames) and prop direction
+    void                add_motor(int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order);
+
+    // remove_motor
+    void                remove_motor(int8_t motor_num);
+
     // normalizes the roll, pitch and yaw factors so maximum magnitude is 0.5
     void                normalise_rpy_factors();
 

libraries/AP_Motors/AP_Motors_Class.h

@@ -41,9 +41,6 @@ public:
     // Constructor
     AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
 
-    // set update rate to motors - a value in hertz
-    virtual void        set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; }
-
     // set frame orientation (normally + or X)
     virtual void        set_frame_orientation( uint8_t new_orientation ) { _flags.frame_orientation = new_orientation; }
 
@@ -107,6 +104,9 @@ public:
     // virtual functions that should be implemented by child classes
     //
 
+    // set update rate to motors - a value in hertz
+    virtual void        set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; }
+
     // init
     virtual void        Init() = 0;
 
@@ -149,7 +149,7 @@ protected:
     void add_motor_num(int8_t motor_num);
     
     // update the throttle input filter
-    virtual void        update_throttle_filter() = 0;
+    virtual void update_throttle_filter() = 0;
 
     // save parameters as part of disarming
     virtual void save_params_on_disarm() {}