AP_Motors: params always use set method

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -167,7 +167,7 @@ void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_t
     _servo_test_cycle_counter = _servo_test;
 
     // ensure inputs are not passed through to servos on start-up
-    _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
+    _servo_mode.set(SERVO_CONTROL_MODE_AUTOMATED);
 
     // initialise radio passthrough for collective to middle
     _throttle_radio_passthrough = 0.5f;
@@ -536,7 +536,7 @@ void AP_MotorsHeli::update_throttle_filter()
 // reset_flight_controls - resets all controls and scalars to flight status
 void AP_MotorsHeli::reset_flight_controls()
 {
-    _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
+    _servo_mode.set(SERVO_CONTROL_MODE_AUTOMATED);
     init_outputs();
     calculate_scalars();
 }
@@ -564,7 +564,7 @@ void AP_MotorsHeli::update_throttle_hover(float dt)
         }
 
         // we have chosen to constrain the hover collective to be within the range reachable by the third order expo polynomial.
-        _collective_hover = constrain_float(_collective_hover + (dt / (dt + AP_MOTORS_HELI_COLLECTIVE_HOVER_TC)) * (curr_collective - _collective_hover), AP_MOTORS_HELI_COLLECTIVE_HOVER_MIN, AP_MOTORS_HELI_COLLECTIVE_HOVER_MAX);
+        _collective_hover.set(constrain_float(_collective_hover + (dt / (dt + AP_MOTORS_HELI_COLLECTIVE_HOVER_TC)) * (curr_collective - _collective_hover), AP_MOTORS_HELI_COLLECTIVE_HOVER_MIN, AP_MOTORS_HELI_COLLECTIVE_HOVER_MAX));
     }
 }
 

libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

@@ -353,20 +353,20 @@ void AP_MotorsHeli_Dual::calculate_scalars()
 {
     // range check collective min, max and mid
     if( _collective_min >= _collective_max ) {
-        _collective_min = AP_MOTORS_HELI_COLLECTIVE_MIN;
-        _collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX;
+        _collective_min.set(AP_MOTORS_HELI_COLLECTIVE_MIN);
+        _collective_max.set(AP_MOTORS_HELI_COLLECTIVE_MAX);
     }
 
 
     // range check collective min, max and mid for rear swashplate
     if( _collective2_min >= _collective2_max ) {
-        _collective2_min = AP_MOTORS_HELI_DUAL_COLLECTIVE2_MIN;
-        _collective2_max = AP_MOTORS_HELI_DUAL_COLLECTIVE2_MAX;
+        _collective2_min.set(AP_MOTORS_HELI_DUAL_COLLECTIVE2_MIN);
+        _collective2_max.set(AP_MOTORS_HELI_DUAL_COLLECTIVE2_MAX);
     }
 
-    _collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg);
+    _collective_zero_thrust_deg.set(constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg));
 
-    _collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg);
+    _collective_land_min_deg.set(constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg));
 
     if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
         // calculate collective zero thrust point as a number from 0 to 1

libraries/AP_Motors/AP_MotorsHeli_Quad.cpp

@@ -132,13 +132,13 @@ void AP_MotorsHeli_Quad::calculate_scalars()
 {
     // range check collective min, max and mid
     if( _collective_min >= _collective_max ) {
-        _collective_min = AP_MOTORS_HELI_COLLECTIVE_MIN;
-        _collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX;
+        _collective_min.set(AP_MOTORS_HELI_COLLECTIVE_MIN);
+        _collective_max.set(AP_MOTORS_HELI_COLLECTIVE_MAX);
     }
 
-    _collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg);
+    _collective_zero_thrust_deg.set(constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg));
 
-    _collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg);
+    _collective_land_min_deg.set(constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg));
 
     if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
         // calculate collective zero thrust point as a number from 0 to 1

libraries/AP_Motors/AP_MotorsHeli_RSC.h

@@ -72,7 +72,7 @@ public:
     uint8_t     get_control_mode() const { return _control_mode; }
 
     // set_critical_speed
-    void        set_critical_speed(float critical_speed) { _critical_speed = critical_speed; }
+    void        set_critical_speed(float critical_speed) { _critical_speed.set(critical_speed); }
 
     // get_desired_speed
     float       get_desired_speed() const { return _desired_speed; }
@@ -88,13 +88,13 @@ public:
     float       get_governor_output() const { return _governor_output; }
     void        governor_reset();
     float       get_control_output() const { return _control_output; }
-    void        set_idle_output(float idle_output) { _idle_output = idle_output; }
+    void        set_idle_output(float idle_output) { _idle_output.set(idle_output); }
     void        autothrottle_run();
     void        set_throttle_curve();
 
     // functions for ramp and runup timers, runup_complete flag
-    void        set_ramp_time(int8_t ramp_time) { _ramp_time = ramp_time; }
-    void        set_runup_time(int8_t runup_time) { _runup_time = runup_time; }
+    void        set_ramp_time(int8_t ramp_time) { _ramp_time.set(ramp_time); }
+    void        set_runup_time(int8_t runup_time) { _runup_time.set(runup_time); }
     bool        is_runup_complete() const { return _runup_complete; }
 
     // is_spooldown_complete

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -310,13 +310,13 @@ void AP_MotorsHeli_Single::calculate_scalars()
 {
     // range check collective min, max and zero
     if( _collective_min >= _collective_max ) {
-        _collective_min = AP_MOTORS_HELI_COLLECTIVE_MIN;
-        _collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX;
+        _collective_min.set(AP_MOTORS_HELI_COLLECTIVE_MIN);
+        _collective_max.set(AP_MOTORS_HELI_COLLECTIVE_MAX);
     }
 
-    _collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg);
+    _collective_zero_thrust_deg.set(constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg));
 
-    _collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg);
+    _collective_land_min_deg.set(constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg));
 
     if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
         // calculate collective zero thrust point as a number from 0 to 1
@@ -467,7 +467,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
         // also not required if we are using external gyro
         if ((_main_rotor.get_control_output() > _main_rotor.get_idle_output()) && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
             // sanity check collective_yaw_effect
-            _collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE);
+            _collective_yaw_effect.set(constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE));
             // the 4.5 scaling factor is to bring the values in line with previous releases
             yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_zero_thrust_pct) / 4.5f;
         }

libraries/AP_Motors/AP_MotorsHeli_Single.h

@@ -82,7 +82,7 @@ public:
     uint32_t get_motor_mask() override;
 
     // ext_gyro_gain - set external gyro gain in range 0 ~ 1000
-    void ext_gyro_gain(float gain)  override { if (gain >= 0 && gain <= 1000) { _ext_gyro_gain_std = gain; }}
+    void ext_gyro_gain(float gain)  override { if (gain >= 0 && gain <= 1000) { _ext_gyro_gain_std.set(gain); }}
 
     // has_flybar - returns true if we have a mechical flybar
     bool has_flybar() const  override { return _flybar_mode; }

libraries/AP_Motors/AP_MotorsHeli_Swash.cpp

@@ -94,9 +94,9 @@ void AP_MotorsHeli_Swash::configure()
     _collective_direction = static_cast<CollectiveDirection>(_swash_coll_dir.get());
     _make_servo_linear = _linear_swash_servo;
     if (_swash_type == SWASHPLATE_TYPE_H3) {
-        enable = 1;
+        enable.set(1);
     } else {
-        enable = 0;
+        enable.set(0);
     }
 }
 

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -383,7 +383,7 @@ void AP_MotorsMulticopter::update_lift_max_from_batt_voltage()
         return;
     }
 
-    _batt_voltage_min = MAX(_batt_voltage_min, _batt_voltage_max * 0.6f);
+    _batt_voltage_min.set(MAX(_batt_voltage_min, _batt_voltage_max * 0.6f));
 
     // contrain resting voltage estimate (resting voltage is actual voltage with sag removed based on current draw and resistance)
     _batt_voltage_resting_estimate = constrain_float(_batt_voltage_resting_estimate, _batt_voltage_min, _batt_voltage_max);
@@ -529,7 +529,7 @@ void AP_MotorsMulticopter::update_throttle_hover(float dt)
 {
     if (_throttle_hover_learn != HOVER_LEARN_DISABLED) {
         // we have chosen to constrain the hover throttle to be within the range reachable by the third order expo polynomial.
-        _throttle_hover = constrain_float(_throttle_hover + (dt / (dt + AP_MOTORS_THST_HOVER_TC)) * (get_throttle() - _throttle_hover), AP_MOTORS_THST_HOVER_MIN, AP_MOTORS_THST_HOVER_MAX);
+        _throttle_hover.set(constrain_float(_throttle_hover + (dt / (dt + AP_MOTORS_THST_HOVER_TC)) * (get_throttle() - _throttle_hover), AP_MOTORS_THST_HOVER_MIN, AP_MOTORS_THST_HOVER_MAX));
     }
 }
 

libraries/AP_Motors/AP_MotorsMulticopter.h

@@ -42,7 +42,7 @@ public:
     void                output_min() override;
 
     // set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm)
-    void                set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; }
+    void                set_yaw_headroom(int16_t pwm) { _yaw_headroom.set(pwm); }
 
     // update_throttle_range - update throttle endpoints
     void                update_throttle_range();

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -159,7 +159,7 @@ void AP_MotorsTri::output_armed_stabilizing()
     SRV_Channels::set_angle(SRV_Channels::get_motor_function(AP_MOTORS_CH_TRI_YAW), _yaw_servo_angle_max_deg*100);
 
     // sanity check YAW_SV_ANGLE parameter value to avoid divide by zero
-    _yaw_servo_angle_max_deg = constrain_float(_yaw_servo_angle_max_deg, AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN, AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX);
+    _yaw_servo_angle_max_deg.set(constrain_float(_yaw_servo_angle_max_deg, AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN, AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX));
 
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain();