Copter: autotune uses AP_Motors set_desired_spool_state

ArduCopter/control_autotune.cpp

@@ -269,7 +269,7 @@ void Copter::autotune_run()
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     // this should not actually be possible because of the autotune_init() checks
     if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
         return;
@@ -298,9 +298,9 @@ void Copter::autotune_run()
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
         if (ap.throttle_zero) {
-            motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+            motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         }else{
-            motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+            motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
         }
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
         attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
@@ -328,7 +328,7 @@ void Copter::autotune_run()
         }
 
         // set motors to full range
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
         // if pilot override call attitude controller
         if (autotune_state.pilot_override || autotune_state.mode != AUTOTUNE_MODE_TUNING) {