AP_Motors: Tradheli - maintain consistent variable types as used in calcs

add override to declaration of new functions

libraries/AP_Motors/AP_MotorsHeli_Dual.h

@@ -74,10 +74,10 @@ public:
     bool rotor_speed_above_critical() const  override { return _rotor.get_rotor_speed() > _rotor.get_critical_speed(); }
     
     // get_governor_output
-    float get_governor_output() const { return _rotor.get_governor_output(); }
+    float get_governor_output() const override { return _rotor.get_governor_output(); }
     
     // get_control_output
-    float get_control_output() const { return _rotor.get_control_output(); }
+    float get_control_output() const override { return _rotor.get_control_output(); }
 
     // calculate_scalars - recalculates various scalars used
     void calculate_scalars() override;

libraries/AP_Motors/AP_MotorsHeli_Quad.h

@@ -55,10 +55,10 @@ public:
     bool rotor_speed_above_critical() const  override { return _rotor.get_rotor_speed() > _rotor.get_critical_speed(); }
     
     // get_governor_output
-    float get_governor_output() const { return _rotor.get_governor_output(); }
+    float get_governor_output() const override { return _rotor.get_governor_output(); }
     
     // get_control_output
-    float get_control_output() const { return _rotor.get_control_output(); }
+    float get_control_output() const override { return _rotor.get_control_output(); }
 
     // calculate_scalars - recalculates various scalars used
     void calculate_scalars() override;

libraries/AP_Motors/AP_MotorsHeli_RSC.h

@@ -69,7 +69,7 @@ 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 = rotor_rpm; }
+    void        set_rotor_rpm(int16_t rotor_rpm) {_rotor_rpm = (float)rotor_rpm; }
     
     // get_governor_output
     float       get_governor_output() const { return _governor_output; }
@@ -113,11 +113,11 @@ private:
     float           _thrcrv_poly[4][4];             // spline polynomials for throttle curve interpolation
     uint16_t        _power_slewrate = 0;            // slewrate for throttle (percentage per second)
     float           _collective_in;                 // collective in for throttle curve calculation, range 0-1.0f
-    int16_t         _rotor_rpm;                     // rotor rpm from speed sensor for governor
+    float           _rotor_rpm;                     // rotor rpm from speed sensor for governor
     float           _governor_disengage = 0.0f;     // throttle percentage where governor disenages to allow return to flight idle
     float           _governor_droop_setting = 0.0f; // governor droop setting, range 0-100%
     float           _governor_output = 0.0f;        // governor output for rotor speed control
-    int16_t         _governor_setpoint = 0.0f;      // governor speed setpoint, range 800-3500 rpm
+    float           _governor_setpoint = 0.0f;      // governor speed setpoint, range 800-3500 rpm
     bool            _governor_engage = false;       // RSC governor status flag for soft-start
     float           _governor_tc = 0.0f;            // governor throttle curve gain, range 50-100%
 

libraries/AP_Motors/AP_MotorsHeli_Single.h

@@ -73,10 +73,10 @@ public:
     bool rotor_speed_above_critical() const  override { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }
     
     // get_governor_output
-    float get_governor_output() const { return _main_rotor.get_governor_output(); }
+    float get_governor_output() const override { return _main_rotor.get_governor_output(); }
     
     // get_control_output
-    float get_control_output() const { return _main_rotor.get_control_output(); }
+    float get_control_output() const override{ return _main_rotor.get_control_output(); }
 
     // calculate_scalars - recalculates various scalars used
     void calculate_scalars() override;