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-rw-r--r--src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp71
1 files changed, 71 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp b/src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp
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index 000000000..58795edb6
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+++ 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 */