AC_AttitudeControl: multicopter specific rate_controller_run

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -393,17 +393,6 @@ void AC_AttitudeControl::attitude_controller_run_quat(const Quaternion& att_targ
     _ang_vel_target_rads += Trv * _att_target_ang_vel_rads;
 }
 
-void AC_AttitudeControl::rate_controller_run()
-{
-    // move throttle vs attitude mixing towards desired (called from here because this is conveniently called on every iteration)
-    update_throttle_rpy_mix();
-
-    _motors.set_roll(rate_bf_to_motor_roll(_ang_vel_target_rads.x));
-    _motors.set_pitch(rate_bf_to_motor_pitch(_ang_vel_target_rads.y));
-    _motors.set_yaw(rate_bf_to_motor_yaw(_ang_vel_target_rads.z));
-    control_monitor_update();
-}
-
 void AC_AttitudeControl::euler_rate_to_ang_vel(const Vector3f& euler_rad, const Vector3f& euler_rate_rads, Vector3f& ang_vel_rads)
 {
     float sin_theta = sinf(euler_rad.y);

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -136,7 +136,7 @@ public:
     void input_att_quat_bf_ang_vel(const Quaternion& att_target_quat, const Vector3f& att_target_ang_vel_rads);
 
     // Run angular velocity controller and send outputs to the motors
-    virtual void rate_controller_run();
+    virtual void rate_controller_run() = 0;
 
     // Convert a 321-intrinsic euler angle derivative to an angular velocity vector
     void euler_rate_to_ang_vel(const Vector3f& euler_rad, const Vector3f& euler_rate_rads, Vector3f& ang_vel_rads);

libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp

@@ -217,3 +217,13 @@ void AC_AttitudeControl_Multi::update_throttle_rpy_mix()
     }
     _throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, 1.0f);
 }
+
+void AC_AttitudeControl_Multi::rate_controller_run()
+{
+    // move throttle vs attitude mixing towards desired (called from here because this is conveniently called on every iteration)
+    update_throttle_rpy_mix();
+
+    _motors.set_roll(rate_bf_to_motor_roll(_ang_vel_target_rads.x));
+    _motors.set_pitch(rate_bf_to_motor_pitch(_ang_vel_target_rads.y));
+    _motors.set_yaw(rate_bf_to_motor_yaw(_ang_vel_target_rads.z));
+}

libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h

@@ -74,6 +74,8 @@ public:
     // get_throttle_rpy_mix - get low throttle compensation value
     bool is_throttle_mix_min() const { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
 
+    // run lowest level body-frame rate controller and send outputs to the motors
+    void rate_controller_run();
 
     // user settable parameters
     static const struct AP_Param::GroupInfo var_info[];