AP_Motors: add override keyword where required

libraries/AP_Motors/AP_MotorsCoax.h

@@ -29,13 +29,13 @@ public:
     };
 
     // init
-    void                init(motor_frame_class frame_class, motor_frame_type frame_type);
+    void                init(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
-    void                set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
+    void                set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set update rate to motors - a value in hertz
-    void                set_update_rate( uint16_t speed_hz );
+    void                set_update_rate( uint16_t speed_hz ) override;
 
     // output_test_seq - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@@ -43,7 +43,7 @@ public:
     virtual void        output_test_seq(uint8_t motor_seq, int16_t pwm) override;
 
     // output_to_motors - sends minimum values out to the motors
-    virtual void        output_to_motors();
+    virtual void        output_to_motors() override;
 
     // 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
@@ -51,7 +51,7 @@ public:
 
 protected:
     // output - sends commands to the motors
-    void                output_armed_stabilizing();
+    void                output_armed_stabilizing() override;
 
     float               _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
     float               _thrust_yt_ccw;

libraries/AP_Motors/AP_MotorsHeli.h

@@ -59,16 +59,16 @@ public:
     };
 
     // init
-    void init(motor_frame_class frame_class, motor_frame_type frame_type);
+    void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
-    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
+    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set update rate to motors - a value in hertz
-    virtual void set_update_rate( uint16_t speed_hz ) = 0;
+    virtual void set_update_rate( uint16_t speed_hz ) override = 0;
 
     // output_min - sets servos to neutral point with motors stopped
-    void output_min();
+    void output_min() override;
 
     // output_test_seq - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@@ -114,7 +114,7 @@ public:
 
     // 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
-    virtual uint16_t get_motor_mask() = 0;
+    virtual uint16_t get_motor_mask() override = 0;
 
     virtual void set_acro_tail(bool set) {}
 
@@ -122,12 +122,12 @@ public:
     virtual void ext_gyro_gain(float gain) {}
 
     // output - sends commands to the motors
-    void output();
+    void output() override;
 
     // supports_yaw_passthrough
     virtual bool supports_yaw_passthrough() const { return false; }
 
-    float get_throttle_hover() const { return 0.5f; }
+    float get_throttle_hover() const override { return 0.5f; }
 
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
@@ -145,7 +145,7 @@ protected:
     };
 
     // output - sends commands to the motors
-    void output_armed_stabilizing();
+    void output_armed_stabilizing() override;
     void output_armed_zero_throttle();
     void output_disarmed();
 
@@ -156,7 +156,7 @@ protected:
     void reset_flight_controls();
 
     // update the throttle input filter
-    void update_throttle_filter();
+    void update_throttle_filter() override;
 
     // move_actuators - moves swash plate and tail rotor
     virtual void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) = 0;

libraries/AP_Motors/AP_MotorsMatrix.h

@@ -20,14 +20,14 @@ public:
     {};
 
     // init
-    void                init(motor_frame_class frame_class, motor_frame_type frame_type);
+    void                init(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
-    void                set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
+    void                set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set update rate to motors - a value in hertz
     // you must have setup_motors before calling this
-    void                set_update_rate(uint16_t speed_hz);
+    void                set_update_rate(uint16_t speed_hz) override;
 
     // output_test_seq - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@@ -42,18 +42,18 @@ public:
     bool                output_test_num(uint8_t motor, int16_t pwm);
 
     // output_to_motors - sends minimum values out to the motors
-    void                output_to_motors();
+    void                output_to_motors() override;
 
     // get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     uint16_t            get_motor_mask() override;
 
     // return number of motor that has failed.  Should only be called if get_thrust_boost() returns true
-    uint8_t             get_lost_motor() const { return _motor_lost_index; }
+    uint8_t             get_lost_motor() const override { return _motor_lost_index; }
 
 protected:
     // output - sends commands to the motors
-    void                output_armed_stabilizing();
+    void                output_armed_stabilizing() override;
 
     // check for failed motor
     void                check_for_failed_motor(float throttle_thrust_best);

libraries/AP_Motors/AP_MotorsMulticopter.h

@@ -37,10 +37,10 @@ public:
     AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
 
     // output - sends commands to the motors
-    virtual void        output();
+    virtual void        output() override;
 
     // output_min - sends minimum values out to the motors
-    void                output_min();
+    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; }
@@ -51,7 +51,7 @@ public:
 
     // update estimated throttle required to hover
     void                update_throttle_hover(float dt);
-    virtual float       get_throttle_hover() const { return _throttle_hover; }
+    virtual float       get_throttle_hover() const override { return _throttle_hover; }
 
     // spool up states
     enum spool_up_down_mode {
@@ -112,7 +112,7 @@ protected:
     virtual void        output_to_motors() = 0;
 
     // update the throttle input filter
-    virtual void        update_throttle_filter();
+    virtual void        update_throttle_filter() override;
 
     // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
     virtual float       get_current_limit_max_throttle();
@@ -139,7 +139,7 @@ protected:
     virtual void        output_boost_throttle(void);
     
     // save parameters as part of disarming
-    void save_params_on_disarm();
+    void save_params_on_disarm() override;
 
     // enum values for HOVER_LEARN parameter
     enum HoverLearn {

libraries/AP_Motors/AP_MotorsSingle.h

@@ -29,13 +29,13 @@ public:
     };
 
     // init
-    void                init(motor_frame_class frame_class, motor_frame_type frame_type);
+    void                init(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
-    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
+    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set update rate to motors - a value in hertz
-    void                set_update_rate( uint16_t speed_hz );
+    void                set_update_rate( uint16_t speed_hz ) override;
 
     // output_test_seq - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@@ -43,7 +43,7 @@ public:
     virtual void        output_test_seq(uint8_t motor_seq, int16_t pwm) override;
 
     // output_to_motors - sends minimum values out to the motors
-    virtual void        output_to_motors();
+    virtual void        output_to_motors() override;
 
     // 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
@@ -51,7 +51,7 @@ public:
 
 protected:
     // output - sends commands to the motors
-    void                output_armed_stabilizing();
+    void                output_armed_stabilizing() override;
 
     int16_t             _throttle_radio_output;   // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
     float               _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range

libraries/AP_Motors/AP_MotorsTailsitter.h

@@ -15,23 +15,23 @@ public:
     AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
 
     // init
-    void init(motor_frame_class frame_class, motor_frame_type frame_type);
+    void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
-    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) {}
-    void set_update_rate( uint16_t speed_hz ) {}
+    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {}
+    void set_update_rate( uint16_t speed_hz ) override {}
 
     virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override {}
 
     // output_to_motors - sends output to named servos
-    void output_to_motors();
+    void output_to_motors() override;
 
     // return 0 motor mask
     uint16_t get_motor_mask() override { return 0; }
 
 protected:
     // calculate motor outputs
-    void output_armed_stabilizing();
+    void output_armed_stabilizing() override;
 
     // calculated outputs
     float _aileron;  // -1..1

libraries/AP_Motors/AP_MotorsTri.h

@@ -24,13 +24,13 @@ public:
     };
 
     // init
-    void                init(motor_frame_class frame_class, motor_frame_type frame_type);
+    void                init(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
-    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
+    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
     // set update rate to motors - a value in hertz
-    void                set_update_rate( uint16_t speed_hz );
+    void                set_update_rate( uint16_t speed_hz ) override;
 
     // output_test_seq - spin a motor at the pwm value specified
     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
@@ -38,7 +38,7 @@ public:
     virtual void        output_test_seq(uint8_t motor_seq, int16_t pwm) override;
 
     // output_to_motors - sends minimum values out to the motors
-    virtual void        output_to_motors();
+    virtual void        output_to_motors() override;
 
     // 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
@@ -51,7 +51,7 @@ public:
     
 protected:
     // output - sends commands to the motors
-    void                output_armed_stabilizing();
+    void                output_armed_stabilizing() override;
 
     // call vehicle supplied thrust compensation if set
     void                thrust_compensation(void) override;