AP_Motors: refactor to allow frame type symbols to be created for ELF

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -569,19 +569,9 @@ void AP_MotorsMatrix::add_motors_raw(const struct MotorDefRaw *motors, uint8_t n
         add_motor_raw(i, m.roll_fac, m.pitch_fac, m.yaw_fac, m.testing_order);
     }
 }
-
-void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_type frame_type)
-{
-    // remove existing motors
-    for (int8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
-        remove_motor(i);
-    }
-    set_initialised_ok(false);
-    bool success = true;
-
-    switch (frame_class) {
 #if AP_MOTORS_FRAME_QUAD_ENABLED
-        case MOTOR_FRAME_QUAD:
+bool AP_MotorsMatrix::setup_quad_matrix(motor_frame_type frame_type)
+{
     _frame_class_string = "QUAD";
     _mav_type = MAV_TYPE_QUADROTOR;
     switch (frame_type) {
@@ -748,7 +738,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
         add_motor(AP_MOTORS_MOT_3, -60, -60, 0, 4);
         add_motor(AP_MOTORS_MOT_4, 0, 160, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
         break;
-                case MOTOR_FRAME_TYPE_PLUSREV:{
+    case MOTOR_FRAME_TYPE_PLUSREV: {
         // plus with reversed motor directions
         _frame_type_string = "PLUSREV";
         static const AP_MotorsMatrix::MotorDef motors[] {
@@ -774,13 +764,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
     default:
         // quad frame class does not support this frame type
         _frame_type_string = "UNSUPPORTED";
-                    success = false;
-                    break;
+        return false;
     }
-            break;  // quad
+    return true;
+}
 #endif //AP_MOTORS_FRAME_QUAD_ENABLED
 #if AP_MOTORS_FRAME_HEXA_ENABLED
-        case MOTOR_FRAME_HEXA:
+bool AP_MotorsMatrix::setup_hexa_matrix(motor_frame_type frame_type)
+{
     _frame_class_string = "HEXA";
     _mav_type = MAV_TYPE_HEXAROTOR;
     switch (frame_type) {
@@ -853,13 +844,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
     default:
         // hexa frame class does not support this frame type
         _frame_type_string = "UNSUPPORTED";
-                    success = false;
-                    break;
-            }
-            break;
-#endif //AP_MOTORS_FRAME_HEXA_ENABLED
+        return false;
+    } //hexa
+    return true;
+}
+#endif ////AP_MOTORS_FRAME_HEXA_ENABLED
 #if AP_MOTORS_FRAME_OCTA_ENABLED
-        case MOTOR_FRAME_OCTA:
+bool AP_MotorsMatrix::setup_octa_matrix(motor_frame_type frame_type)
+{
     _frame_class_string = "OCTA";
     _mav_type = MAV_TYPE_OCTOROTOR;
     switch (frame_type) {
@@ -972,13 +964,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
     default:
         // octa frame class does not support this frame type
         _frame_type_string = "UNSUPPORTED";
-                    success = false;
-                    break;
+        return false;
     } // octa frame type
-            break;
+    return true;
+}
 #endif //AP_MOTORS_FRAME_OCTA_ENABLED
 #if AP_MOTORS_FRAME_OCTAQUAD_ENABLED
-        case MOTOR_FRAME_OCTAQUAD:
+bool AP_MotorsMatrix::setup_octaquad_matrix(motor_frame_type frame_type)
+{
     _mav_type = MAV_TYPE_OCTOROTOR;
     _frame_class_string = "OCTAQUAD";
     switch (frame_type) {
@@ -1094,13 +1087,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
     default:
         // octaquad frame class does not support this frame type
         _frame_type_string = "UNSUPPORTED";
-                    success = false;
-                    break;
-            }
-            break;
-#endif //AP_MOTORS_FRAME_OCTAQUAD_ENABLED
+        return false;
+    } //octaquad
+    return true;
+}
+#endif // AP_MOTORS_FRAME_OCTAQUAD_ENABLED
 #if AP_MOTORS_FRAME_DODECAHEXA_ENABLED
-        case MOTOR_FRAME_DODECAHEXA: {
+bool AP_MotorsMatrix::setup_dodecahexa_matrix(motor_frame_type frame_type)
+{
     _mav_type = MAV_TYPE_DODECAROTOR;
     _frame_class_string = "DODECAHEXA";
     switch (frame_type) {
@@ -1145,13 +1139,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
     default:
         // dodeca-hexa frame class does not support this frame type
         _frame_type_string = "UNSUPPORTED";
-                    success = false;
-                    break;
-            }}
-            break;
+        return false;
+    } //dodecahexa
+    return true;
+}
 #endif //AP_MOTORS_FRAME_DODECAHEXA_ENABLED
 #if AP_MOTORS_FRAME_Y6_ENABLED
-        case MOTOR_FRAME_Y6:
+bool AP_MotorsMatrix::setup_y6_matrix(motor_frame_type frame_type)
+{
     _mav_type = MAV_TYPE_HEXAROTOR;
     _frame_class_string = "Y6";
     switch (frame_type) {
@@ -1196,11 +1191,13 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
         add_motors_raw(motors, ARRAY_SIZE(motors));
         break;
     }
-            }
-            break;
-#endif //AP_MOTORS_FRAME_Y6_ENABLED
+    } //y6
+    return true;
+}
+#endif // AP_MOTORS_FRAME_Y6_ENABLED
 #if AP_MOTORS_FRAME_DECA_ENABLED
-        case MOTOR_FRAME_DECA:
+bool AP_MotorsMatrix::setup_deca_matrix(motor_frame_type frame_type)
+{
     _mav_type = MAV_TYPE_DECAROTOR;
     _frame_class_string = "DECA";
     switch (frame_type) {
@@ -1241,9 +1238,55 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
     }
     default:
         // deca frame class does not support this frame type
-                    success = false;
-                    break;
+        return false;
+    } //deca
+    return true;
+}
+#endif // AP_MOTORS_FRAME_DECA_ENABLED
+
+void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_type frame_type)
+{
+    // remove existing motors
+    for (int8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
+        remove_motor(i);
     }
+    set_initialised_ok(false);
+    bool success = true;
+
+    switch (frame_class) {
+#if AP_MOTORS_FRAME_QUAD_ENABLED
+    case MOTOR_FRAME_QUAD:
+        success = setup_quad_matrix(frame_type);
+        break;  // quad
+#endif //AP_MOTORS_FRAME_QUAD_ENABLED
+#if AP_MOTORS_FRAME_HEXA_ENABLED
+    case MOTOR_FRAME_HEXA:
+        success = setup_hexa_matrix(frame_type);
+        break;
+#endif //AP_MOTORS_FRAME_HEXA_ENABLED
+#if AP_MOTORS_FRAME_OCTA_ENABLED
+    case MOTOR_FRAME_OCTA:
+        success = setup_octa_matrix(frame_type);
+        break;
+#endif //AP_MOTORS_FRAME_OCTA_ENABLED
+#if AP_MOTORS_FRAME_OCTAQUAD_ENABLED
+    case MOTOR_FRAME_OCTAQUAD:
+        success = setup_octaquad_matrix(frame_type);
+        break;
+#endif //AP_MOTORS_FRAME_OCTAQUAD_ENABLED
+#if AP_MOTORS_FRAME_DODECAHEXA_ENABLED
+    case MOTOR_FRAME_DODECAHEXA:
+        success = setup_dodecahexa_matrix(frame_type);
+        break;
+#endif //AP_MOTORS_FRAME_DODECAHEXA_ENABLED
+#if AP_MOTORS_FRAME_Y6_ENABLED
+    case MOTOR_FRAME_Y6:
+        success = setup_y6_matrix(frame_type);
+        break;
+#endif //AP_MOTORS_FRAME_Y6_ENABLED
+#if AP_MOTORS_FRAME_DECA_ENABLED
+    case MOTOR_FRAME_DECA:
+        success = setup_deca_matrix(frame_type);
         break;
 #endif //AP_MOTORS_FRAME_DECA_ENABLED
     default:
@@ -1252,8 +1295,6 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
         success = false;
         _mav_type = MAV_TYPE_GENERIC;
         break;
-
-
     } // switch frame_class
 
     // normalise factors to magnitude 0.5

libraries/AP_Motors/AP_MotorsMatrix.h

@@ -150,6 +150,16 @@ protected:
 
     const char*         _frame_class_string = ""; // string representation of frame class
     const char*         _frame_type_string = "";  //  string representation of frame type
+
 private:
+    // setup motors matrix
+    bool setup_quad_matrix(motor_frame_type frame_type);
+    bool setup_hexa_matrix(motor_frame_type frame_type);
+    bool setup_octa_matrix(motor_frame_type frame_type);
+    bool setup_deca_matrix(motor_frame_type frame_type);
+    bool setup_dodecahexa_matrix(motor_frame_type frame_type);
+    bool setup_y6_matrix(motor_frame_type frame_type);
+    bool setup_octaquad_matrix(motor_frame_type frame_type);
+
     static AP_MotorsMatrix *_singleton;
 };