mixer_multirotor: topic for motor limit notification

2 files changed, 72 insertions, 0 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index f7d5f8737..b921865eb 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/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);
diff --git a/src/modules/uORB/topics/multirotor_motor_limits.h b/src/modules/uORB/topics/multirotor_motor_limits.h
new file mode 100644
index 000000000..44c51e4d9
--- /dev/null
+++ b/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