From 7ab76dbd0effe0e0aedaaf68d640b27a76821c39 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 21 Feb 2015 15:46:22 +0900
Subject: [PATCH] Motors: add loop_rate to constructor for all frames

---
 libraries/AP_Motors/AP_MotorsCoax.h     | 4 ++--
 libraries/AP_Motors/AP_MotorsHeli.h     | 3 ++-
 libraries/AP_Motors/AP_MotorsHexa.h     | 2 +-
 libraries/AP_Motors/AP_MotorsMatrix.h   | 4 ++--
 libraries/AP_Motors/AP_MotorsOcta.h     | 2 +-
 libraries/AP_Motors/AP_MotorsOctaQuad.h | 2 +-
 libraries/AP_Motors/AP_MotorsQuad.h     | 2 +-
 libraries/AP_Motors/AP_MotorsSingle.h   | 4 ++--
 libraries/AP_Motors/AP_MotorsTri.h      | 4 ++--
 libraries/AP_Motors/AP_MotorsY6.h       | 2 +-
 10 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsCoax.h b/libraries/AP_Motors/AP_MotorsCoax.h
index 7ad66c1f15..94ae3760ef 100644
--- 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
index 0a4899aacb..56245b001a 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -97,8 +97,9 @@ public:
                    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
index 2c51911a2b..2b6de1dcde 100644
--- 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
index 93a9b1a697..3eb5fc2527 100644
--- 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
index 0124e428b3..a122947726 100644
--- 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
index e00dca743e..9e8dc4b7c8 100644
--- 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
index cd32ac5dfc..82327d1a1e 100644
--- 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
index 795b12c055..43b287c449 100644
--- 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
index f457069a9e..d9584e9a6b 100644
--- 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
index a761edf6b1..2f2a8a04b6 100644
--- 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