mtecs: small cleanup, move subclass to own file

6 files changed, 181 insertions, 82 deletions

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index fe4eb66a9..5df17e2ec 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1456,7 +1456,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		if (ground_speed_length > FLT_EPSILON) {
 			flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
 		}
-		fwPosctrl::mTecs::LimitOverride limitOverride;
+		fwPosctrl::LimitOverride limitOverride;
 		if (climbout_mode) {
 			limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
 		} else {
diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk
index c887223f4..af155fe08 100644
--- a/src/modules/fw_pos_control_l1/module.mk
+++ b/src/modules/fw_pos_control_l1/module.mk
@@ -41,4 +41,5 @@ SRCS		= fw_pos_control_l1_main.cpp \
 		  fw_pos_control_l1_params.c \
 		  landingslope.cpp \
 		  mtecs/mTecs.cpp \
+		  mtecs/limitoverride.cpp \
 		  mtecs/mTecs_params.c
diff --git a/src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp b/src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp
new file mode 100644
index 000000000..58795edb6
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * 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 limitoverride.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "limitoverride.h"
+
+namespace fwPosctrl {
+
+bool LimitOverride::applyOverride(BlockOutputLimiter &outputLimiterThrottle,
+		BlockOutputLimiter &outputLimiterPitch)
+{
+	bool ret = false;
+
+	if (overrideThrottleMinEnabled)	{
+		outputLimiterThrottle.setMin(overrideThrottleMin);
+		ret = true;
+	}
+	if (overrideThrottleMaxEnabled)	{
+		outputLimiterThrottle.setMax(overrideThrottleMax);
+		ret = true;
+	}
+	if (overridePitchMinEnabled)	{
+		outputLimiterPitch.setMin(overridePitchMin);
+		ret = true;
+	}
+	if (overridePitchMaxEnabled)	{
+		outputLimiterPitch.setMax(overridePitchMax);
+		ret = true;
+	}
+
+	return ret;
+}
+
+} /* namespace fwPosctrl */
diff --git a/src/modules/fw_pos_control_l1/mtecs/limitoverride.h b/src/modules/fw_pos_control_l1/mtecs/limitoverride.h
new file mode 100644
index 000000000..64c2e7bbd
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/mtecs/limitoverride.h
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * 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 limitoverride.h
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+
+#ifndef LIMITOVERRIDE_H_
+#define LIMITOVERRIDE_H_
+
+#include "mTecs_blocks.h"
+
+namespace fwPosctrl
+{
+
+/* A small class which provides helper functions to override control output limits which are usually set by
+* parameters in special cases
+*/
+class LimitOverride
+{
+public:
+	LimitOverride() :
+		overrideThrottleMinEnabled(false),
+		overrideThrottleMaxEnabled(false),
+		overridePitchMinEnabled(false),
+		overridePitchMaxEnabled(false)
+	{};
+
+	~LimitOverride() {};
+
+	/*
+	* Override the limits of the outputlimiter instances given by the arguments with the limits saved in
+	* this class (if enabled)
+	* @return true if the limit was applied
+	*/
+	bool applyOverride(BlockOutputLimiter &outputLimiterThrottle,
+			BlockOutputLimiter &outputLimiterPitch);
+
+	/* Functions to enable or disable the override */
+	void enableThrottleMinOverride(float value) { enable(&overrideThrottleMinEnabled,
+			&overrideThrottleMin, value); }
+	void disableThrottleMinOverride() { disable(&overrideThrottleMinEnabled); }
+	void enableThrottleMaxOverride(float value) { enable(&overrideThrottleMaxEnabled,
+			&overrideThrottleMax, value); }
+	void disableThrottleMaxOverride() { disable(&overrideThrottleMaxEnabled); }
+	void enablePitchMinOverride(float value) { enable(&overridePitchMinEnabled,
+			&overridePitchMin, value); }
+	void disablePitchMinOverride() { disable(&overridePitchMinEnabled); }
+	void enablePitchMaxOverride(float value) { enable(&overridePitchMaxEnabled,
+			&overridePitchMax, value); }
+	void disablePitchMaxOverride() { disable(&overridePitchMaxEnabled); }
+
+protected:
+	bool overrideThrottleMinEnabled;
+	float overrideThrottleMin;
+	bool overrideThrottleMaxEnabled;
+	float overrideThrottleMax;
+	bool overridePitchMinEnabled;
+	float overridePitchMin; //in degrees (replaces param values)
+	bool overridePitchMaxEnabled;
+	float overridePitchMax; //in degrees (replaces param values)
+
+	/* Enable a specific limit override */
+	void enable(bool *flag, float *limit, float value) { *flag = true; *limit = value; };
+
+	/* Disable a specific limit override */
+	void disable(bool *flag) { *flag = false; };
+};
+
+} /* namespace fwPosctrl */
+
+#endif /* LIMITOVERRIDE_H_ */
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
index 32f9f19ca..5894333f3 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -302,29 +302,4 @@ void mTecs::debug(const char *fmt, ...) {
 	debug_print(fmt, args);
 }
 
-bool mTecs::LimitOverride::applyOverride(BlockOutputLimiter &outputLimiterThrottle,
-		BlockOutputLimiter &outputLimiterPitch)
-{
-	bool ret = false;
-
-	if (overrideThrottleMinEnabled)	{
-		outputLimiterThrottle.setMin(overrideThrottleMin);
-		ret = true;
-	}
-	if (overrideThrottleMaxEnabled)	{
-		outputLimiterThrottle.setMax(overrideThrottleMax);
-		ret = true;
-	}
-	if (overridePitchMinEnabled)	{
-		outputLimiterPitch.setMin(overridePitchMin);
-		ret = true;
-	}
-	if (overridePitchMaxEnabled)	{
-		outputLimiterPitch.setMax(overridePitchMax);
-		ret = true;
-	}
-
-	return ret;
-}
-
 } /* namespace fwPosctrl */
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
index 346acfaf3..0369640f2 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -44,6 +44,7 @@
 #define MTECS_H_
 
 #include "mTecs_blocks.h"
+#include "limitoverride.h"
 
 #include <controllib/block/BlockParam.hpp>
 #include <drivers/drv_hrt.h>
@@ -60,62 +61,6 @@ public:
 	mTecs();
 	virtual ~mTecs();
 
-	/* A small class which provides helper fucntions to override control output limits which are usually set by
-	 * parameters in special cases
-	 */
-	class LimitOverride
-	{
-	public:
-		LimitOverride() :
-			overrideThrottleMinEnabled(false),
-			overrideThrottleMaxEnabled(false),
-			overridePitchMinEnabled(false),
-			overridePitchMaxEnabled(false)
-		{};
-
-		~LimitOverride() {};
-
-		/*
-		 * Override the limits of the outputlimiter instances given by the arguments with the limits saved in
-		 * this class (if enabled)
-		 * @return true if the limit was applied
-		 */
-		bool applyOverride(BlockOutputLimiter &outputLimiterThrottle,
-				BlockOutputLimiter &outputLimiterPitch);
-
-		/* Functions to enable or disable the override */
-		void enableThrottleMinOverride(float value) { enable(&overrideThrottleMinEnabled,
-				&overrideThrottleMin, value); }
-		void disableThrottleMinOverride() { disable(&overrideThrottleMinEnabled); }
-		void enableThrottleMaxOverride(float value) { enable(&overrideThrottleMaxEnabled,
-				&overrideThrottleMax, value); }
-		void disableThrottleMaxOverride() { disable(&overrideThrottleMaxEnabled); }
-		void enablePitchMinOverride(float value) { enable(&overridePitchMinEnabled,
-				&overridePitchMin, value); }
-		void disablePitchMinOverride() { disable(&overridePitchMinEnabled); }
-		void enablePitchMaxOverride(float value) { enable(&overridePitchMaxEnabled,
-				&overridePitchMax, value); }
-		void disablePitchMaxOverride() { disable(&overridePitchMaxEnabled); }
-
-	protected:
-		bool overrideThrottleMinEnabled;
-		float overrideThrottleMin;
-		bool overrideThrottleMaxEnabled;
-		float overrideThrottleMax;
-		bool overridePitchMinEnabled;
-		float overridePitchMin; //in degrees (replaces param values)
-		bool overridePitchMaxEnabled;
-		float overridePitchMax; //in degrees (replaces param values)
-
-		/* Enable a specific limit override */
-		void enable(bool *flag, float *limit, float value) { *flag = true; *limit = value;
-		};
-		/* Disable a specific limit override */
-		void disable(bool *flag) { *flag = false; };
-
-
-	};
-
 	/*
 	 * Control in altitude setpoint and speed mode
 	 */