From cd5795a4ac8a774b2202416102ec6cf789ede7f5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 14 May 2013 18:23:36 +0900
Subject: [PATCH] ACMotors: make a few more functions non-virtual

Saves at least 22 bytes of RAM
---
 libraries/AP_Motors/AP_Motors_Class.h | 35 +++++++++------------------
 1 file changed, 11 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 98881fc8b9..8df077e1ba 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -62,7 +62,7 @@ public:
     virtual void        Init();
 
     // set mapping from motor number to RC channel
-    virtual void        set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
+    void                set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
         _motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1;
         _motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2;
         _motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3;
@@ -74,37 +74,24 @@ public:
     }
 
     // set update rate to motors - a value in hertz
-    virtual void        set_update_rate( uint16_t speed_hz ) {
-        _speed_hz = speed_hz;
-    };
+    virtual void        set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
 
     // set frame orientation (normally + or X)
-    virtual void        set_frame_orientation( uint8_t new_orientation ) {
-        _frame_orientation = new_orientation;
-    };
+    virtual void        set_frame_orientation( uint8_t new_orientation ) { _frame_orientation = new_orientation; };
 
     // enable - starts allowing signals to be sent to motors
-    virtual void        enable() {
-    };
+    virtual void        enable() {};
 
     // arm, disarm or check status status of motors
-    virtual bool        armed() {
-        return _armed;
-    };
-    virtual void        armed(bool arm) {
-        _armed = arm;
-    };
+    bool                armed() { return _armed; };
+    void                armed(bool arm) { _armed = arm; };
 
     // set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
-    virtual void        set_min_throttle(uint16_t min_throttle) {
-        _min_throttle = min_throttle;
-    };
-    virtual void        set_max_throttle(uint16_t max_throttle) {
-        _max_throttle = max_throttle;
-    };
+    void                set_min_throttle(uint16_t min_throttle) { _min_throttle = min_throttle; };
+    void                set_max_throttle(uint16_t max_throttle) { _max_throttle = max_throttle; };
 
     // output - sends commands to the motors
-    virtual void        output() {
+    void        output() {
         if( _armed ) { output_armed(); }else{ output_disarmed(); }
     };
 
@@ -113,7 +100,7 @@ public:
     };
 
     // reached_limits - return whether we hit the limits of the motors
-    virtual uint8_t     reached_limit( uint8_t which_limit = AP_MOTOR_ANY_LIMIT ) {
+    uint8_t             reached_limit( uint8_t which_limit = AP_MOTOR_ANY_LIMIT ) {
         return _reached_limit & which_limit;
     }
 
@@ -126,7 +113,7 @@ public:
 
 	// setup_throttle_curve - used to linearlise thrust output by motors
     //      returns true if curve is created successfully
-	virtual bool setup_throttle_curve();
+	bool                setup_throttle_curve();
 
     // 1 if motor is enabled, 0 otherwise
     bool                motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];