AP_Motors: rename MOT_PWM_MODE to MOT_PWM_TYPE

Randy prefers TYPE

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -98,12 +98,12 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("THR_MIX_MAX", 14, AP_MotorsMulticopter, _thr_mix_max, AP_MOTORS_THR_MIX_MAX_DEFAULT),
 
-    // @Param: PWM_MODE
-    // @DisplayName: Output PWM mode
-    // @Description: This selects the output PWM mode, allowing for normal PWM continuous output or OneShot125
+    // @Param: PWM_TYPE
+    // @DisplayName: Output PWM type
+    // @Description: This selects the output PWM type, allowing for normal PWM continuous output or OneShot125
     // @Values: 0:Normal,1:OneShot,2:OneShot125
     // @User: Advanced
-    AP_GROUPINFO("PWM_MODE", 15, AP_MotorsMulticopter, _pwm_mode, PWM_MODE_NORMAL),
+    AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, PWM_TYPE_NORMAL),
     
     AP_GROUPEND
 };

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -79,7 +79,7 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
         // we have a mapped motor number for this channel
         chan = _motor_map[chan];
     }
-    if (_pwm_mode == PWM_MODE_ONESHOT125) {
+    if (_pwm_type == PWM_TYPE_ONESHOT125) {
         // OneShot125 uses a PWM range from 125 to 250 usec
         pwm /= 8;
     }
@@ -92,8 +92,8 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
 void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
 {
     hal.rcout->set_freq(rc_map_mask(mask), freq_hz);
-    if (_pwm_mode == PWM_MODE_ONESHOT ||
-        _pwm_mode == PWM_MODE_ONESHOT125) {
+    if (_pwm_type == PWM_TYPE_ONESHOT ||
+        _pwm_type == PWM_TYPE_ONESHOT125) {
         // tell HAL to do immediate output
         hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
     }

libraries/AP_Motors/AP_Motors_Class.h

@@ -180,6 +180,6 @@ protected:
     float _throttle_radio_passthrough = 0.0f; // throttle/collective input from pilot in 0 ~ 1 range.  used for setup and providing servo feedback while landed
     float _yaw_radio_passthrough = 0.0f;      // yaw input from pilot in -1 ~ +1 range.  used for setup and providing servo feedback while landed
 
-    enum pwm_mode { PWM_MODE_NORMAL=0, PWM_MODE_ONESHOT=1, PWM_MODE_ONESHOT125=2 };
-    AP_Int8             _pwm_mode;            // PWM output mode
+    enum pwm_type { PWM_TYPE_NORMAL=0, PWM_TYPE_ONESHOT=1, PWM_TYPE_ONESHOT125=2 };
+    AP_Int8             _pwm_type;            // PWM output type
 };