AP_Motors:Heli Governor - change rotor_rpm argument to a float

libraries/AP_Motors/AP_MotorsHeli.h

@@ -93,7 +93,7 @@ public:
     float get_rsc_setpoint() const { return _rsc_setpoint * 0.001f; }
     
     // set_rpm - for rotor speed governor
-    virtual void set_rpm(int16_t rotor_rpm) = 0;
+    virtual void set_rpm(float rotor_rpm) = 0;
 
     // set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1
     virtual void set_desired_rotor_speed(float desired_speed) = 0;

libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

@@ -207,7 +207,7 @@ void AP_MotorsHeli_Dual::set_desired_rotor_speed(float desired_speed)
 }
 
 // set_rotor_rpm - used for governor with speed sensor
-void AP_MotorsHeli_Dual::set_rpm(int16_t rotor_rpm)
+void AP_MotorsHeli_Dual::set_rpm(float rotor_rpm)
 {
     _rotor.set_rotor_rpm(rotor_rpm);
 }

libraries/AP_Motors/AP_MotorsHeli_Dual.h

@@ -59,7 +59,7 @@ public:
     void output_to_motors() override;
 
     // set_rpm - for rotor speed governor
-    void set_rpm(int16_t rotor_rpm) override;
+    void set_rpm(float rotor_rpm) override;
 
     // set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
     void set_desired_rotor_speed(float desired_speed) override;

libraries/AP_Motors/AP_MotorsHeli_Quad.cpp

@@ -97,7 +97,7 @@ void AP_MotorsHeli_Quad::set_desired_rotor_speed(float desired_speed)
 }
 
 // set_rotor_rpm - used for governor with speed sensor
-void AP_MotorsHeli_Quad::set_rpm(int16_t rotor_rpm)
+void AP_MotorsHeli_Quad::set_rpm(float rotor_rpm)
 {
     _rotor.set_rotor_rpm(rotor_rpm);
 }

libraries/AP_Motors/AP_MotorsHeli_Quad.h

@@ -40,7 +40,7 @@ public:
     void output_to_motors() override;
 
     // set_rpm - for rotor speed governor
-    void set_rpm(int16_t rotor_rpm) override;
+    void set_rpm(float rotor_rpm) override;
 
     // set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
     void set_desired_rotor_speed(float desired_speed) override;

libraries/AP_Motors/AP_MotorsHeli_RSC.h

@@ -84,7 +84,7 @@ public:
     float       get_rotor_speed() const;
     
     // set_rotor_rpm - when speed sensor is available for governor
-    void        set_rotor_rpm(int16_t rotor_rpm) {_rotor_rpm = (float)rotor_rpm; }
+    void        set_rotor_rpm(float rotor_rpm) {_rotor_rpm = (float)rotor_rpm; }
     
     // get_governor_output
     float       get_governor_output() const { return _governor_output; }

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -210,7 +210,7 @@ void AP_MotorsHeli_Single::set_desired_rotor_speed(float desired_speed)
 }
 
 // set_rotor_rpm - used for governor with speed sensor
-void AP_MotorsHeli_Single::set_rpm(int16_t rotor_rpm)
+void AP_MotorsHeli_Single::set_rpm(float rotor_rpm)
 {
     _main_rotor.set_rotor_rpm(rotor_rpm);
 }

libraries/AP_Motors/AP_MotorsHeli_Single.h

@@ -61,7 +61,7 @@ public:
     void set_desired_rotor_speed(float desired_speed) override;
 
     // set_rpm - for rotor speed governor
-    void set_rpm(int16_t rotor_rpm) override;
+    void set_rpm(float rotor_rpm) override;
 
     // get_main_rotor_speed - estimated rotor speed when no speed sensor or governor is used
     float get_main_rotor_speed() const  override { return _main_rotor.get_rotor_speed(); }