Merge pull request #1325 from hsteinhaus/motor_limit_fb2

Notify about multirotor motor limits

src/modules/systemlib/mixer/mixer.h

@@ -130,6 +130,9 @@
 
 #include <nuttx/config.h>
 #include "drivers/drv_mixer.h"
+
+#include <uORB/topics/multirotor_motor_limits.h>
+
 #include "mixer_load.h"
 
 /**
@@ -531,6 +534,9 @@ private:
 	float				_yaw_scale;
 	float				_idle_speed;
 
+	orb_advert_t			_limits_pub;
+	multirotor_motor_limits_s 	_limits;
+
 	unsigned			_rotor_count;
 	const Rotor			*_rotors;
 

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -36,7 +36,8 @@
  *
  * Multi-rotor mixers.
  */
-
+#include <uORB/uORB.h>
+#include <uORB/topics/multirotor_motor_limits.h>
 #include <nuttx/config.h>
 
 #include <sys/types.h>
@@ -302,6 +303,11 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	float		min_out = 0.0f;
 	float		max_out = 0.0f;
 
+	_limits.roll_pitch = false;
+	_limits.yaw = false;
+	_limits.throttle_upper = false;
+	_limits.throttle_lower = false;
+
 	/* perform initial mix pass yielding unbounded outputs, ignore yaw */
 	for (unsigned i = 0; i < _rotor_count; i++) {
 		float out = roll * _rotors[i].roll_scale +
@@ -311,6 +317,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 		/* limit yaw if it causes outputs clipping */
 		if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) {
 			yaw = -out / _rotors[i].yaw_scale;
+			_limits.yaw = true;
 		}
 
 		/* calculate min and max output values */
@@ -332,6 +339,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 		for (unsigned i = 0; i < _rotor_count; i++) {
 			outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust;
 		}
+		_limits.roll_pitch = true;
 
 	} else {
 		/* roll/pitch mixed without limiting, add yaw control */
@@ -344,6 +352,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	float scale_out;
 	if (max_out > 1.0f) {
 		scale_out = 1.0f / max_out;
+		_limits.throttle_upper = true;
 
 	} else {
 		scale_out = 1.0f;
@@ -351,9 +360,20 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 
 	/* scale outputs to range _idle_speed..1, and do final limiting */
 	for (unsigned i = 0; i < _rotor_count; i++) {
+		if (outputs[i] < _idle_speed) {
+			_limits.throttle_lower = true;
+		}
 		outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f);
 	}
 
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
+        /* publish/advertise motor limits if running on FMU */
+        if (_limits_pub > 0) {
+            orb_publish(ORB_ID(multirotor_motor_limits), _limits_pub, &_limits);
+        } else {
+            _limits_pub = orb_advertise(ORB_ID(multirotor_motor_limits), &_limits);
+        }
+#endif
 	return _rotor_count;
 }
 

src/modules/uORB/objects_common.cpp

@@ -192,6 +192,9 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
 
+#include "topics/multirotor_motor_limits.h"
+ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s);
+
 #include "topics/telemetry_status.h"
 ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
 ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);

src/modules/uORB/topics/multirotor_motor_limits.h

@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file multirotor_motor_limits.h
+ *
+ * Definition of multirotor_motor_limits  topic
+ */
+
+#ifndef MULTIROTOR_MOTOR_LIMITS_H_
+#define MULTIROTOR_MOTOR_LIMITS_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Motor limits
+ */
+struct multirotor_motor_limits_s {
+        uint8_t roll_pitch	: 1; // roll/pitch limit reached
+        uint8_t yaw		: 1; // yaw limit reached
+        uint8_t throttle_lower	: 1; // lower throttle limit reached
+        uint8_t throttle_upper	: 1; // upper throttle limit reached
+        uint8_t reserved	: 4;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(multirotor_motor_limits);
+
+#endif