Rover: refactor motor.set_steering() to mode.set_steering()

APMrover2/mode.cpp

@@ -511,7 +511,7 @@ void Mode::calc_steering_from_lateral_acceleration(float lat_accel, bool reverse
                                                                            g2.motors.limit.steer_left,
                                                                            g2.motors.limit.steer_right,
                                                                            rover.G_Dt);
-    g2.motors.set_steering(steering_out * 4500.0f);
+    set_steering(steering_out * 4500.0f);
 }
 
 // calculate steering output to drive towards desired heading
@@ -527,7 +527,7 @@ void Mode::calc_steering_to_heading(float desired_heading_cd, float rate_max_deg
                                                                          g2.motors.limit.steer_left,
                                                                          g2.motors.limit.steer_right,
                                                                          rover.G_Dt);
-    g2.motors.set_steering(steering_out * 4500.0f);
+    set_steering(steering_out * 4500.0f);
 }
 
 // calculate vehicle stopping point using current location, velocity and maximum acceleration
@@ -555,6 +555,11 @@ void Mode::calc_stopping_location(Location& stopping_loc)
     stopping_loc.offset(stopping_offset.x, stopping_offset.y);
 }
 
+void Mode::set_steering(float steering_value)
+{
+    g2.motors.set_steering(steering_value);
+}
+
 Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
 {
     Mode *ret = nullptr;

APMrover2/mode.h

@@ -195,6 +195,7 @@ protected:
     // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
     // throttle_out is in the range -100 ~ +100
     void get_pilot_input(float &steering_out, float &throttle_out);
+    void set_steering(float steering_value);
 
     // references to avoid code churn:
     class AP_AHRS &ahrs;

APMrover2/mode_acro.cpp

@@ -43,7 +43,7 @@ void ModeAcro::update()
                                                               rover.G_Dt);
     }
 
-    g2.motors.set_steering(steering_out * 4500.0f);
+    set_steering(steering_out * 4500.0f);
 }
 
 bool ModeAcro::requires_velocity() const

APMrover2/mode_guided.cpp

@@ -80,7 +80,7 @@ void ModeGuided::update()
                                                                             g2.motors.limit.steer_left,
                                                                             g2.motors.limit.steer_right,
                                                                             rover.G_Dt);
-                g2.motors.set_steering(steering_out * 4500.0f);
+                set_steering(steering_out * 4500.0f);
                 calc_throttle(_desired_speed, true, true);
             } else {
                 // we have reached the destination so stay here

APMrover2/mode_steering.cpp

@@ -28,7 +28,7 @@ void ModeSteering::update()
                                                                           g2.motors.limit.steer_left,
                                                                           g2.motors.limit.steer_right,
                                                                           rover.G_Dt);
-        g2.motors.set_steering(steering_out * 4500.0f);
+        set_steering(steering_out * 4500.0f);
     } else {
         // In steering mode we control lateral acceleration directly.
         // For regular steering vehicles we use the maximum lateral acceleration