Copter Motors: replace limit bitmask with structure

ArduCopter/Attitude.pde

@@ -583,7 +583,7 @@ get_rate_roll(int32_t target_rate)
     i = g.pid_rate_roll.get_integrator();
 
     // update i term as long as we haven't breached the limits or the I term will certainly reduce
-    if (!motors.reached_limit(AP_MOTOR_ROLLPITCH_LIMIT) || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
+    if (!motors.limit.roll_pitch || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
         i = g.pid_rate_roll.get_i(rate_error, G_Dt);
     }
 
@@ -627,7 +627,7 @@ get_rate_pitch(int32_t target_rate)
     i = g.pid_rate_pitch.get_integrator();
 
     // update i term as long as we haven't breached the limits or the I term will certainly reduce
-    if (!motors.reached_limit(AP_MOTOR_ROLLPITCH_LIMIT) || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
+    if (!motors.limit.roll_pitch || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
         i = g.pid_rate_pitch.get_i(rate_error, G_Dt);
     }
 
@@ -667,7 +667,7 @@ get_rate_yaw(int32_t target_rate)
     i = g.pid_rate_yaw.get_integrator();
 
     // update i term as long as we haven't breached the limits or the I term will certainly reduce
-    if (!motors.reached_limit(AP_MOTOR_YAW_LIMIT) || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
+    if (!motors.limit.yaw || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
         i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
     }
 
@@ -972,7 +972,7 @@ get_throttle_accel(int16_t z_target_accel)
     // separately calculate p, i, d values for logging
     p = g.pid_throttle_accel.get_p(z_accel_error);
     // freeze I term if we've breached throttle limits
-    if( motors.reached_limit(AP_MOTOR_THROTTLE_LIMIT) ) {
+    if (motors.limit.throttle) {
         i = g.pid_throttle_accel.get_integrator();
     }else{
         i = g.pid_throttle_accel.get_i(z_accel_error, .01f);
@@ -1121,7 +1121,7 @@ get_throttle_rate(float z_target_speed)
     p = g.pid_throttle_rate.get_p(z_rate_error);
 
     // freeze I term if we've breached throttle limits
-    if(motors.reached_limit(AP_MOTOR_THROTTLE_LIMIT)) {
+    if(motors.limit.throttle) {
         i = g.pid_throttle_rate.get_integrator();
     }else{
         i = g.pid_throttle_rate.get_i(z_rate_error, .02);

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -108,8 +108,10 @@ void AP_MotorsMatrix::output_armed()
     int16_t yaw_allowed;    // amount of yaw we can fit in
     int16_t thr_adj;        // how far we move the throttle point from out_max_range
 
-    // initialize reached_limit flag
-    _reached_limit = AP_MOTOR_NO_LIMITS_REACHED;
+    // initialize limits flag
+    limit.roll_pitch = false;
+    limit.yaw = false;
+    limit.throttle = false;
 
     // Throttle is 0 to 1000 only
     // To-Do: we should not really be limiting this here because we don't "own" this _rc_throttle object
@@ -138,13 +140,15 @@ void AP_MotorsMatrix::output_armed()
         }
 
         // Every thing is limited
-        _reached_limit |= AP_MOTOR_ROLLPITCH_LIMIT | AP_MOTOR_YAW_LIMIT | AP_MOTOR_THROTTLE_LIMIT;
+        limit.roll_pitch = true;
+        limit.yaw = true;
+        limit.throttle = true;
 
     } else {
 
         // check if throttle is below limit
         if (_rc_throttle->radio_out < out_min) {
-            _reached_limit |= AP_MOTOR_THROTTLE_LIMIT;
+            limit.throttle = true;
         }
 
         // calculate roll and pitch for each motor
@@ -181,7 +185,7 @@ void AP_MotorsMatrix::output_armed()
             if (yaw_allowed > _rc_yaw->pwm_out) {
                 yaw_allowed = _rc_yaw->pwm_out; // to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output
             }else{
-                _reached_limit |= AP_MOTOR_YAW_LIMIT;
+                limit.yaw = true;
             }
         }else{
             // if yawing left
@@ -189,7 +193,7 @@ void AP_MotorsMatrix::output_armed()
             if( yaw_allowed < _rc_yaw->pwm_out ) {
                 yaw_allowed = _rc_yaw->pwm_out; // to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output
             }else{
-                _reached_limit |= AP_MOTOR_YAW_LIMIT;
+                limit.yaw = true;
             }
         }
 
@@ -219,7 +223,7 @@ void AP_MotorsMatrix::output_armed()
             if (thr_adj > out_max-(rpy_high+out_max_range)){
                 thr_adj = out_max-(rpy_high+out_max_range);
                 // we haven't even been able to apply full throttle command
-                _reached_limit |= AP_MOTOR_THROTTLE_LIMIT;
+                limit.throttle = true;
             }
         }else if(thr_adj < 0){
             // decrease throttle as close as possible to requested throttle
@@ -233,11 +237,13 @@ void AP_MotorsMatrix::output_armed()
         if ((rpy_low+out_max_range)+thr_adj < out_min){
             rpy_scale = (float)(out_min-thr_adj-out_max_range)/rpy_low;
             // we haven't even been able to apply full roll, pitch and minimal yaw without scaling
-            _reached_limit |= AP_MOTOR_ROLLPITCH_LIMIT | AP_MOTOR_YAW_LIMIT;
+            limit.roll_pitch = true;
+            limit.yaw = true;
         }else if((rpy_high+out_max_range)+thr_adj > out_max){
             rpy_scale = (float)(out_max-thr_adj-out_max_range)/rpy_high;
             // we haven't even been able to apply full roll, pitch and minimal yaw without scaling
-            _reached_limit |= AP_MOTOR_ROLLPITCH_LIMIT | AP_MOTOR_YAW_LIMIT;
+            limit.roll_pitch = true;
+            limit.yaw = true;
         }
 
         // add scaled roll, pitch, constrained yaw and throttle for each motor
@@ -284,8 +290,10 @@ void AP_MotorsMatrix::output_armed()
     int16_t motor_adjustment = 0;
     int16_t yaw_to_execute = 0;
 
-    // initialize reached_limit flag
-    _reached_limit = AP_MOTOR_NO_LIMITS_REACHED;
+    // initialize limits flag
+    limit.roll_pitch = false;
+    limit.yaw = false;
+    limit.throttle = false;
 
     // Throttle is 0 to 1000 only
     _rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle);
@@ -305,10 +313,10 @@ void AP_MotorsMatrix::output_armed()
         }
         // if we have any roll, pitch or yaw input then it's breaching the limit
         if( _rc_roll->pwm_out != 0 || _rc_pitch->pwm_out != 0 ) {
-            _reached_limit |= AP_MOTOR_ROLLPITCH_LIMIT;
+            limit.roll_pitch = true;
         }
         if( _rc_yaw->pwm_out != 0 ) {
-            _reached_limit |= AP_MOTOR_YAW_LIMIT;
+            limit.yaw = true;
         }
     } else {    // non-zero throttle
 
@@ -375,7 +383,9 @@ void AP_MotorsMatrix::output_armed()
             }
 
             // we haven't even been able to apply roll, pitch and minimal yaw without adjusting throttle so mark all limits as breached
-            _reached_limit |= AP_MOTOR_ROLLPITCH_LIMIT | AP_MOTOR_YAW_LIMIT | AP_MOTOR_THROTTLE_LIMIT;
+            limit.roll_pitch = true;
+            limit.yaw = true;
+            limit.throttle = true;
         }
 
         // if we didn't give all the yaw requested, calculate how much additional yaw we can add
@@ -424,7 +434,7 @@ void AP_MotorsMatrix::output_armed()
             }
             // mark yaw limit reached if we didn't get everything we asked for
             if( yaw_to_execute != rc_yaw_excess ) {
-                _reached_limit |= AP_MOTOR_YAW_LIMIT;
+                limit.yaw = true;
             }
         }
 

libraries/AP_Motors/AP_Motors_Class.h

@@ -104,11 +104,6 @@ public:
     // output_min - sends minimum values out to the motors
     virtual void        output_min() = 0;
 
-    // reached_limits - return whether we hit the limits of the motors
-    uint8_t             reached_limit( uint8_t which_limit = AP_MOTOR_ANY_LIMIT ) {
-        return _reached_limit & which_limit;
-    }
-
     // motor test
     virtual void        output_test() = 0;
 
@@ -125,6 +120,13 @@ public:
     // final output values sent to the motors.  public (for now) so that they can be access for logging
     int16_t             motor_out[AP_MOTORS_MAX_NUM_MOTORS];
 
+    // structure for holding motor limit flags
+    struct AP_Motors_limit {
+        uint8_t roll_pitch      : 1; // we have reached roll or pitch limit
+        uint8_t yaw             : 1; // we have reached yaw limit
+        uint8_t throttle        : 1; // we have reached throttle limit
+    } limit;
+
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo        var_info[];
 
@@ -147,7 +149,6 @@ protected:
     AP_Int8             _throttle_curve_enabled;        // enable throttle curve
     AP_Int8             _throttle_curve_mid;  // throttle which produces 1/2 the maximum thrust.  expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
     AP_Int8             _throttle_curve_max;  // throttle which produces the maximum thrust.  expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
-    uint8_t             _reached_limit;                // bit mask to record which motor limits we hit (if any) during most recent output.  Used to provide feedback to attitude controllers
 
     // for new stability patch
     int16_t             _hover_out;                     // the estimated hover throttle in pwm (i.e. 1000 ~ 2000).  calculated from the THR_MID parameter