ACMotors: make test_order uint_8

libraries/AP_HAL_AVR/AnalogIn_ADC.cpp

@@ -12,12 +12,12 @@ using namespace AP_HAL_AVR;
 extern const AP_HAL::HAL& hal;
 
 ADCSource::ADCSource(uint8_t pin) :
-    _pin(pin),
-    _stop_pin(ANALOG_INPUT_NONE),
     _sum_count(0),
     _sum(0),
-    _settle_time_ms(0),
-    _last_average(0)
+    _last_average(0),
+    _pin(pin),
+    _stop_pin(ANALOG_INPUT_NONE),
+    _settle_time_ms(0)
 {}
 
 float ADCSource::read_average() {

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -279,17 +279,17 @@ void AP_MotorsMatrix::output_disarmed()
 // output_disarmed - sends commands to the motors
 void AP_MotorsMatrix::output_test()
 {
-    int8_t min_order, max_order;
-    int8_t i,j;
+    uint8_t min_order, max_order;
+    uint8_t i,j;
 
     // find min and max orders
-    min_order = test_order[0];
-    max_order = test_order[0];
+    min_order = _test_order[0];
+    max_order = _test_order[0];
     for(i=1; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
-        if( test_order[i] < min_order )
-            min_order = test_order[i];
-        if( test_order[i] > max_order )
-            max_order = test_order[i];
+        if( _test_order[i] < min_order )
+            min_order = _test_order[i];
+        if( _test_order[i] > max_order )
+            max_order = _test_order[i];
     }
 
     // shut down all motors
@@ -301,7 +301,7 @@ void AP_MotorsMatrix::output_test()
     // loop through all the possible orders spinning any motors that match that description
     for( i=min_order; i<=max_order; i++ ) {
         for( j=0; j<AP_MOTORS_MAX_NUM_MOTORS; j++ ) {
-            if( motor_enabled[j] && test_order[j] == i ) {
+            if( motor_enabled[j] && _test_order[j] == i ) {
                 // turn on this motor and wait 1/3rd of a second
                 hal.rcout->write(_motor_to_channel_map[j], _rc_throttle->radio_min + 100);
                 hal.scheduler->delay(300);
@@ -316,7 +316,7 @@ void AP_MotorsMatrix::output_test()
 }
 
 // add_motor
-void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t testing_order)
+void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order)
 {
     // ensure valid motor number is provided
     if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
@@ -333,16 +333,12 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
         _yaw_factor[motor_num] = yaw_fac;
 
         // set order that motor appears in test
-        if( testing_order == AP_MOTORS_MATRIX_ORDER_UNDEFINED ) {
-            test_order[motor_num] = motor_num;
-        }else{
-            test_order[motor_num] = testing_order;
-        }
+        _test_order[motor_num] = testing_order;
     }
 }
 
 // add_motor using just position and prop direction
-void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, int8_t testing_order)
+void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order)
 {
     // call raw motor set-up method
     add_motor_raw(

libraries/AP_Motors/AP_MotorsMatrix.h

@@ -11,9 +11,6 @@
 #include <RC_Channel.h>     // RC Channel Library
 #include "AP_Motors_Class.h"
 
-#define AP_MOTORS_MATRIX_MOTOR_UNDEFINED -1
-#define AP_MOTORS_MATRIX_ORDER_UNDEFINED -1
-
 #define AP_MOTORS_MATRIX_YAW_FACTOR_CW   -1
 #define AP_MOTORS_MATRIX_YAW_FACTOR_CCW   1
 
@@ -49,7 +46,7 @@ public:
     virtual void        output_min();
 
     // add_motor using just position and yaw_factor (or prop direction)
-    void                add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
+    void                add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
 
     // remove_motor
     void                remove_motor(int8_t motor_num);
@@ -62,21 +59,19 @@ public:
         remove_all_motors();
     };
 
-    // matrix
-    AP_Int8         test_order[AP_MOTORS_MAX_NUM_MOTORS];               // order of the motors in the test sequence
-
 protected:
     // output - sends commands to the motors
     virtual void        output_armed();
     virtual void        output_disarmed();
 
     // 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, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
+    void                add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);
 
     int8_t              _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled
     float               _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
     float               _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
     float               _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS];  // each motors contribution to yaw (normally 1 or -1)
+    uint8_t             _test_order[AP_MOTORS_MAX_NUM_MOTORS];  // order of the motors in the test sequence
 };
 
 #endif  // AP_MOTORSMATRIX