Copter: poshold uses AP_Motors set_desired_spool_state

ArduCopter/control_poshold.cpp

@@ -142,7 +142,7 @@ void Copter::poshold_run()
 
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     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);
         wp_nav.init_loiter_target();
         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);
@@ -186,9 +186,9 @@ void Copter::poshold_run()
     if (ap.land_complete) {
         // if throttle zero reset attitude and exit immediately
         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);
         }
         wp_nav.init_loiter_target();
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
@@ -397,7 +397,7 @@ void Copter::poshold_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);
 
         //
         // Shared roll & pitch states (POSHOLD_BRAKE_TO_LOITER and POSHOLD_LOITER)