From b11600aebe5fedcdab6a65bc0dc4d9a16b564196 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Tue, 11 Aug 2015 20:37:56 -0400
Subject: [PATCH] AP_MotorsHeli: Move set_delta_phase_angle into _Single class

---
 libraries/AP_Motors/AP_MotorsHeli.cpp        | 9 ---------
 libraries/AP_Motors/AP_MotorsHeli.h          | 6 +++---
 libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 9 +++++++++
 libraries/AP_Motors/AP_MotorsHeli_Single.h   | 4 ++++
 4 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 711e33fb03..2387da7ef0 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -288,15 +288,6 @@ void AP_MotorsHeli::init_swash_servo(RC_Channel& servo)
     servo.radio_max = 2000;
 }
 
-// set_delta_phase_angle for setting variable phase angle compensation and force
-// recalculation of collective factors
-void AP_MotorsHeli::set_delta_phase_angle(int16_t angle)
-{
-    angle = constrain_int16(angle, -90, 90);
-    _delta_phase_angle = angle;
-    calculate_roll_pitch_collective_factors();
-}
-
 // update the throttle input filter
 void AP_MotorsHeli::update_throttle_filter()
 {
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index a4500df872..803f44d1a4 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -150,9 +150,9 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-    // set_delta_phase_angle for setting variable phase angle compensation and force
-    // recalculation of collective factors
-    void set_delta_phase_angle(int16_t angle);
+    // set_delta_phase_angle for setting variable phase angle compensation and force recalculation of collective factors
+    // ignored unless overloaded by child classes
+    virtual void set_delta_phase_angle(int16_t angle){};
 
     // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 16c31c9fcc..f2bab5d56a 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -428,6 +428,15 @@ void AP_MotorsHeli_Single::calculate_roll_pitch_collective_factors()
     }
 }
 
+// set_delta_phase_angle for setting variable phase angle compensation and force
+// recalculation of collective factors
+void AP_MotorsHeli_Single::set_delta_phase_angle(int16_t angle)
+{
+    angle = constrain_int16(angle, -90, 90);
+    _delta_phase_angle = angle;
+    calculate_roll_pitch_collective_factors();
+}
+
 //
 // heli_move_swash - moves swash plate to attitude of parameters passed in
 //                 - expected ranges:
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index edcc4d265c..75671eae38 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -121,6 +121,10 @@ public:
 
     // supports_yaw_passthrought - returns true if we support yaw passthrough
     bool supports_yaw_passthrough() const { return _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO; }
+
+    // set_delta_phase_angle for setting variable phase angle compensation and force
+    // recalculation of collective factors
+    void set_delta_phase_angle(int16_t angle);
     
     // var_info
     static const struct AP_Param::GroupInfo var_info[];