AC_AttControlHeli: use motor accessors to set roll, pitch, yaw, thr

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp

@@ -71,8 +71,8 @@ void AC_AttitudeControl_Heli::rate_controller_run()
     // call rate controllers and send output to motors object
     // To-Do: should the outputs from get_rate_roll, pitch, yaw be int16_t which is the input to the motors library?
     // To-Do: skip this step if the throttle out is zero?
-    rate_bf_to_motor_roll_pitch(_rate_bf_target.x, _rate_bf_target.y, _motor_roll, _motor_pitch);
+    rate_bf_to_motor_roll_pitch(_rate_bf_target.x, _rate_bf_target.y);
-    _motor_yaw = rate_bf_to_motor_yaw(_rate_bf_target.z);
+    _motors.set_yaw(rate_bf_to_motor_yaw(_rate_bf_target.z));
 }
 
 //
@@ -84,7 +84,7 @@ void AC_AttitudeControl_Heli::rate_controller_run()
 //
 
 // rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target rate in centi-degrees / second
-void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds, int16_t& motor_roll, int16_t& motor_pitch)
+void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds)
 {
     float roll_pd, roll_i;                      // used to capture pid values
     float pitch_pd, pitch_i;                    // used to capture pid values
@@ -155,8 +155,8 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
     }
 
     // output to motors
-    motor_roll = roll_out;
+    _motors.set_roll(roll_out);
-    motor_pitch = pitch_out;
+    _motors.set_pitch(pitch_out);
 
 /*
 #if HELI_CC_COMP == ENABLED

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

@@ -20,13 +20,11 @@ public:
                         const AP_Vehicle::MultiCopter &aparm,
                         AP_MotorsHeli& motors,
                         APM_PI& pi_angle_roll, APM_PI& pi_angle_pitch, APM_PI& pi_angle_yaw,
-                        AC_PID& pid_rate_roll, AC_PID& pid_rate_pitch, AC_PID& pid_rate_yaw,
+                        AC_PID& pid_rate_roll, AC_PID& pid_rate_pitch, AC_PID& pid_rate_yaw
-                        int16_t& motor_roll, int16_t& motor_pitch, int16_t& motor_yaw, int16_t& motor_throttle
                         ) :
         AC_AttitudeControl(ahrs, ins, aparm, motors,
                            pi_angle_roll, pi_angle_pitch, pi_angle_yaw,
-                           pid_rate_roll, pid_rate_pitch, pid_rate_yaw,
+                           pid_rate_roll, pid_rate_pitch, pid_rate_yaw)
-                           motor_roll, motor_pitch, motor_yaw, motor_throttle)
 		{
             AP_Param::setup_object_defaults(this, var_info);
 		}
@@ -55,7 +53,8 @@ private:
     // body-frame rate controller
     //
 	// rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target body-frame rate (in centi-degrees/sec) for roll, pitch and yaw
-    void rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds, int16_t& motor_roll, int16_t& motor_pitch);
+    // outputs are sent directly to motor class
+    void rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds);
     virtual float rate_bf_to_motor_yaw(float rate_yaw_cds);
 
     //