Copter: rtl uses AP_Motors set_desired_spool_state

ArduCopter/control_rtl.cpp

@@ -120,7 +120,7 @@ void Copter::rtl_climb_return_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@@ -140,7 +140,7 @@ void Copter::rtl_climb_return_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);
 
     // run waypoint controller
     wp_nav.update_wpnav();
@@ -187,7 +187,7 @@ void Copter::rtl_loiterathome_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@@ -207,7 +207,7 @@ void Copter::rtl_loiterathome_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);
 
     // run waypoint controller
     wp_nav.update_wpnav();
@@ -268,7 +268,7 @@ void Copter::rtl_descent_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -301,7 +301,7 @@ void Copter::rtl_descent_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);
 
     // process roll, pitch inputs
     wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
@@ -349,7 +349,7 @@ void Copter::rtl_land_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -402,7 +402,7 @@ void Copter::rtl_land_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);
 
      // process pilot's roll and pitch input
     wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);