AP_Motors: Add seperate roll and pitch limits

libraries/AP_Motors/AP_Motors6DOF.cpp

@@ -205,7 +205,8 @@ void AP_Motors6DOF::output_min()
     int8_t i;
 
     // set limits flags
-    limit.roll_pitch = true;
+    limit.roll = true;
+    limit.pitch = true;
     limit.yaw = true;
     limit.throttle_lower = false;
     limit.throttle_upper = false;
@@ -302,7 +303,8 @@ void AP_Motors6DOF::output_armed_stabilizing()
         float linear_out[AP_MOTORS_MAX_NUM_MOTORS]; // 3 linear DOF mix for each motor
 
         // initialize limits flags
-        limit.roll_pitch = false;
+        limit.roll = false;
+        limit.pitch = false;
         limit.yaw = false;
         limit.throttle_lower = false;
         limit.throttle_upper = false;
@@ -407,7 +409,8 @@ void AP_Motors6DOF::output_armed_stabilizing_vectored()
     float linear_out[AP_MOTORS_MAX_NUM_MOTORS]; // 3 linear DOF mix for each motor
 
     // initialize limits flags
-    limit.roll_pitch = false;
+    limit.roll= false;
+    limit.pitch = false;
     limit.yaw = false;
     limit.throttle_lower = false;
     limit.throttle_upper = false;
@@ -493,7 +496,8 @@ void AP_Motors6DOF::output_armed_stabilizing_vectored_6dof()
     float yfl_max;
 
     // initialize limits flags
-    limit.roll_pitch = false;
+    limit.roll = false;
+    limit.pitch = false;
     limit.yaw = false;
     limit.throttle_lower = false;
     limit.throttle_upper = false;

libraries/AP_Motors/AP_MotorsCoax.cpp

@@ -163,7 +163,8 @@ void AP_MotorsCoax::output_armed_stabilizing()
     } else {
         rp_scale = constrain_float((1.0f - MIN(fabsf(yaw_thrust), 0.5f * (float)_yaw_headroom / 1000.0f)) / rp_thrust_max, 0.0f, 1.0f);
         if (rp_scale < 1.0f) {
-            limit.roll_pitch = true;
+            limit.roll = true;
+            limit.pitch = true;
         }
     }
 
@@ -198,7 +199,8 @@ void AP_MotorsCoax::output_armed_stabilizing()
     float thrust_out_actuator = constrain_float(MAX(_throttle_hover * 0.5f, thrust_out), 0.5f, 1.0f);
 
     if (is_zero(thrust_out)) {
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
     }
     // force of a lifting surface is approximately equal to the angle of attack times the airflow velocity squared
     // static thrust is proportional to the airflow velocity squared
@@ -207,11 +209,11 @@ void AP_MotorsCoax::output_armed_stabilizing()
     _actuator_out[0] = roll_thrust / thrust_out_actuator;
     _actuator_out[1] = pitch_thrust / thrust_out_actuator;
     if (fabsf(_actuator_out[0]) > 1.0f) {
-        limit.roll_pitch = true;
+        limit.roll = true;
         _actuator_out[0] = constrain_float(_actuator_out[0], -1.0f, 1.0f);
     }
     if (fabsf(_actuator_out[1]) > 1.0f) {
-        limit.roll_pitch = true;
+        limit.pitch = true;
         _actuator_out[1] = constrain_float(_actuator_out[1], -1.0f, 1.0f);
     }
     _actuator_out[2] = -_actuator_out[0];

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -214,7 +214,8 @@ void AP_MotorsHeli::output_min()
     update_motor_control(ROTOR_CONTROL_STOP);
 
     // override limits flags
-    limit.roll_pitch = true;
+    limit.roll = true;
+    limit.pitch = true;
     limit.yaw = true;
     limit.throttle_lower = true;
     limit.throttle_upper = false;

libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

@@ -374,7 +374,8 @@ void AP_MotorsHeli_Dual::update_motor_control(RotorControlState state)
 void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float collective_in, float yaw_out)
 {
     // initialize limits flag
-    limit.roll_pitch = false;
+    limit.roll = false;
+    limit.pitch = false;
     limit.yaw = false;
     limit.throttle_lower = false;
     limit.throttle_upper = false;
@@ -382,22 +383,22 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
     if (_dual_mode == AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE) {
         if (pitch_out < -_cyclic_max/4500.0f) {
             pitch_out = -_cyclic_max/4500.0f;
-            limit.roll_pitch = true;
+            limit.pitch = true;
         }
 
         if (pitch_out > _cyclic_max/4500.0f) {
             pitch_out = _cyclic_max/4500.0f;
-            limit.roll_pitch = true;
+            limit.pitch = true;
         }
     } else {
         if (roll_out < -_cyclic_max/4500.0f) {
             roll_out = -_cyclic_max/4500.0f;
-            limit.roll_pitch = true;
+            limit.roll = true;
         }
 
         if (roll_out > _cyclic_max/4500.0f) {
             roll_out = _cyclic_max/4500.0f;
-            limit.roll_pitch = true;
+            limit.roll = true;
         }
     }
 

libraries/AP_Motors/AP_MotorsHeli_Quad.cpp

@@ -211,7 +211,8 @@ void AP_MotorsHeli_Quad::update_motor_control(RotorControlState state)
 void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float collective_in, float yaw_out)
 {
     // initialize limits flag
-    limit.roll_pitch = false;
+    limit.roll = false;
+    limit.pitch = false;
     limit.yaw = false;
     limit.throttle_lower = false;
     limit.throttle_upper = false;

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -331,7 +331,8 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     float yaw_offset = 0.0f;
 
     // initialize limits flag
-    limit.roll_pitch = false;
+    limit.roll = false;
+    limit.pitch = false;
     limit.yaw = false;
     limit.throttle_lower = false;
     limit.throttle_upper = false;
@@ -350,7 +351,8 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
         float ratio = (float)(_cyclic_max/4500.0f) / total_out;
         roll_out *= ratio;
         pitch_out *= ratio;
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
     }
 
     // constrain collective input

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -218,7 +218,8 @@ void AP_MotorsMatrix::output_armed_stabilizing()
     // check for roll and pitch saturation
     if (rp_high - rp_low > 1.0f || throttle_avg_max < -rp_low) {
         // Full range is being used by roll and pitch.
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
     }
 
     // calculate the highest allowed average thrust that will provide maximum control range
@@ -275,7 +276,8 @@ void AP_MotorsMatrix::output_armed_stabilizing()
     thr_adj = throttle_thrust - throttle_thrust_best_rpy;
     if (rpy_scale < 1.0f) {
         // Full range is being used by roll, pitch, and yaw.
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
         limit.yaw = true;
         if (thr_adj > 0.0f) {
             limit.throttle_upper = true;

libraries/AP_Motors/AP_MotorsMatrixTS.cpp

@@ -104,7 +104,8 @@ void AP_MotorsMatrixTS::output_armed_stabilizing()
     if (thrust_max > 1.0f) {
         thr_adj = 1.0f - thrust_max;
         limit.throttle_upper = true;
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
         for (int i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
             if (motor_enabled[i]) {
                 // calculate the thrust outputs for roll and pitch

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -518,7 +518,8 @@ void AP_MotorsMulticopter::output_logic()
         // Servos set to their trim values or in a test condition.
 
         // set limits flags
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
         limit.yaw = true;
         limit.throttle_lower = true;
         limit.throttle_upper = true;
@@ -543,7 +544,8 @@ void AP_MotorsMulticopter::output_logic()
         // Servos should be moving to correct the current attitude.
 
         // set limits flags
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
         limit.yaw = true;
         limit.throttle_lower = true;
         limit.throttle_upper = true;
@@ -587,7 +589,8 @@ void AP_MotorsMulticopter::output_logic()
         // Servos should exhibit normal flight behavior.
 
         // initialize limits flags
-        limit.roll_pitch = false;
+        limit.roll = false;
+        limit.pitch = false;
         limit.yaw = false;
         limit.throttle_lower = false;
         limit.throttle_upper = false;
@@ -620,7 +623,8 @@ void AP_MotorsMulticopter::output_logic()
         // Servos should exhibit normal flight behavior.
 
         // initialize limits flags
-        limit.roll_pitch = false;
+        limit.roll = false;
+        limit.pitch = false;
         limit.yaw = false;
         limit.throttle_lower = false;
         limit.throttle_upper = false;
@@ -647,7 +651,8 @@ void AP_MotorsMulticopter::output_logic()
         // Servos should exhibit normal flight behavior.
 
         // initialize limits flags
-        limit.roll_pitch = false;
+        limit.roll = false;
+        limit.pitch = false;
         limit.yaw = false;
         limit.throttle_lower = false;
         limit.throttle_upper = false;

libraries/AP_Motors/AP_MotorsSingle.cpp

@@ -168,7 +168,8 @@ void AP_MotorsSingle::output_armed_stabilizing()
     } else {
         rp_scale = constrain_float((1.0f - MIN(fabsf(yaw_thrust), (float) _yaw_headroom / 1000.0f)) / rp_thrust_max, 0.0f, 1.0f);
         if (rp_scale < 1.0f) {
-            limit.roll_pitch = true;
+            limit.roll = true;
+            limit.pitch = true;
         }
     }
 
@@ -203,7 +204,8 @@ void AP_MotorsSingle::output_armed_stabilizing()
     _thrust_out = throttle_avg_max + thr_adj;
 
     if (is_zero(_thrust_out)) {
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
         limit.yaw = true;
     }
 
@@ -219,7 +221,8 @@ void AP_MotorsSingle::output_armed_stabilizing()
     if (actuator_max > thrust_out_actuator && !is_zero(actuator_max)) {
         // roll, pitch and yaw request can not be achieved at full servo defection
         // reduce roll, pitch and yaw to reduce the requested defection to maximum
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
         limit.yaw = true;
         rp_scale = thrust_out_actuator / actuator_max;
     } else {

libraries/AP_Motors/AP_MotorsTailsitter.cpp

@@ -161,7 +161,8 @@ void AP_MotorsTailsitter::output_armed_stabilizing()
     if (thrust_max > 1.0f) {
         thr_adj = 1.0f - thrust_max;
         limit.throttle_upper = true;
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
     }
 
     // Add adjustment to reduce average throttle

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -221,7 +221,8 @@ void AP_MotorsTri::output_armed_stabilizing()
     thr_adj = throttle_thrust - throttle_thrust_best_rpy;
     if (rpy_scale < 1.0f) {
         // Full range is being used by roll, pitch, and yaw.
-        limit.roll_pitch = true;
+        limit.roll = true;
+        limit.pitch = true;
         if (thr_adj > 0.0f) {
             limit.throttle_upper = true;
         }

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -45,7 +45,8 @@ AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
     _throttle_filter.reset(0.0f);
 
     // init limit flags
-    limit.roll_pitch = true;
+    limit.roll = true;
+    limit.pitch = true;
     limit.yaw = true;
     limit.throttle_lower = true;
     limit.throttle_upper = true;

libraries/AP_Motors/AP_Motors_Class.h

@@ -136,7 +136,8 @@ public:
 
     // structure for holding motor limit flags
     struct AP_Motors_limit {
-        uint8_t roll_pitch      : 1; // we have reached roll or pitch limit
+        uint8_t roll            : 1; // we have reached roll or pitch limit
+        uint8_t pitch           : 1; // we have reached roll or pitch limit
         uint8_t yaw             : 1; // we have reached yaw limit
         uint8_t throttle_lower  : 1; // we have reached throttle's lower limit
         uint8_t throttle_upper  : 1; // we have reached throttle's upper limit

libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp

@@ -148,11 +148,11 @@ void stability_test()
                     avg_out = ((hal.rcout->read(0) + hal.rcout->read(1) + hal.rcout->read(2) + hal.rcout->read(3))/4);
                     // display input and output
 #if NUM_OUTPUTS <= 4
-                    hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",                // quad
+                    hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",                // quad
 #elif NUM_OUTPUTS <= 6
-                    hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",          // hexa
+                    hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",          // hexa
 #else
-                    hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",    // octa
+                    hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",    // octa
 #endif
                             (int)roll_in,
                             (int)pitch_in,
@@ -171,7 +171,8 @@ void stability_test()
                             (int)hal.rcout->read(7),
 #endif
                             (int)avg_out,
-                            (int)motors.limit.roll_pitch,
+                            (int)motors.limit.roll,
+                            (int)motors.limit.pitch,
                             (int)motors.limit.yaw,
                             (int)motors.limit.throttle_lower,
                             (int)motors.limit.throttle_upper);