Motors: add loop_rate to constructor

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -126,11 +126,12 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
 };
 
 // Constructor
-AP_Motors::AP_Motors( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz ) :
+AP_Motors::AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz) :
     _rc_roll(rc_roll),
     _rc_pitch(rc_pitch),
     _rc_throttle(rc_throttle),
     _rc_yaw(rc_yaw),
+    _loop_rate(loop_rate),
     _speed_hz(speed_hz),
     _min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
     _max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE),

libraries/AP_Motors/AP_Motors_Class.h

@@ -85,7 +85,7 @@ class AP_Motors {
 public:
 
     // Constructor
-    AP_Motors( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
+    AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
 
     // init
     virtual void        Init();
@@ -211,6 +211,7 @@ protected:
     RC_Channel&         _rc_pitch;              // pitch input in from users is held in servo_out
     RC_Channel&         _rc_throttle;           // throttle input in from users is held in servo_out
     RC_Channel&         _rc_yaw;                // yaw input in from users is held in servo_out
+    uint16_t            _loop_rate;             // rate at which output() function is called (normally 400hz)
     uint16_t            _speed_hz;              // speed in hz to send updates to motors
     int16_t             _min_throttle;          // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
     int16_t             _max_throttle;          // the maximum throttle to be sent to the motors (sometimes limited by slow start)