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Minor cosmetics #2486

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plusk01 wants to merge 2 commits into from
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Minor cosmetics #2486

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4d11469
minor: mark commandMotorPWMs as override
plusk01 Mar 27, 2020
e7a44d3
minor: squelch warnings about unused switch cases
plusk01 Mar 27, 2020
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7 changes: 6 additions & 1 deletion AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -195,7 +195,7 @@ class SimpleFlightApi : public MultirotorApiBase {
return 0.5f; //measured in simulator by firing commands "MoveToLocation -x 0 -y 0" multiple times and looking at distance traveled
}

virtual void commandMotorPWMs(float front_right_pwm, float rear_left_pwm, float front_left_pwm, float rear_right_pwm)
virtual void commandMotorPWMs(float front_right_pwm, float rear_left_pwm, float front_left_pwm, float rear_right_pwm) override
{
//Utils::log(Utils::stringf("commandMotorPWMs %f, %f, %f, %f", front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm));

Expand Down Expand Up @@ -362,6 +362,11 @@ class SimpleFlightApi : public MultirotorApiBase {
params_.position_pid.d.setValues(kd_axis4);
params_.gains_changed = true;
break;
case simple_flight::GoalModeType::Unknown:
case simple_flight::GoalModeType::Passthrough:
case simple_flight::GoalModeType::ConstantOutput:
// no gains to set associated with these modes
break;
}
}

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