AP_Motors: add method for scripting to set external limit flags

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -258,8 +258,23 @@ void AP_MotorsMulticopter::output()
 
     // output raw roll/pitch/yaw/thrust
     output_rpyt();
+
+    // check for any external limit flags
+    update_external_limits();
+
 };
 
+void AP_MotorsMulticopter::update_external_limits()
+{
+#if AP_SCRIPTING_ENABLED
+    limit.roll |= external_limits.roll;
+    limit.pitch |= external_limits.pitch;
+    limit.yaw |= external_limits.yaw;
+    limit.throttle_lower |= external_limits.throttle_lower;
+    limit.throttle_upper |= external_limits.throttle_upper;
+#endif
+}
+
 // output booster throttle, if any
 void AP_MotorsMulticopter::output_boost_throttle(void)
 {

libraries/AP_Motors/AP_MotorsMulticopter.h

@@ -154,6 +154,9 @@ protected:
     // save parameters as part of disarming
     void                save_params_on_disarm() override;
 
+    // update external limits from scripting
+    void                update_external_limits();
+
     // enum values for HOVER_LEARN parameter
     enum HoverLearn {
         HOVER_LEARN_DISABLED = 0,

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -219,6 +219,17 @@ void AP_Motors::set_limit_flag_pitch_roll_yaw(bool flag)
     limit.yaw = flag;
 }
 
+#if AP_SCRIPTING_ENABLED
+void AP_Motors::set_external_limits(bool roll, bool pitch, bool yaw, bool throttle_lower, bool throttle_upper)
+{
+    external_limits.roll = roll;
+    external_limits.pitch = pitch;
+    external_limits.yaw = yaw;
+    external_limits.throttle_lower = throttle_lower;
+    external_limits.throttle_upper = throttle_upper;
+}
+#endif
+
 // returns true if the configured PWM type is digital and should have fixed endpoints
 bool AP_Motors::is_digital_pwm_type() const
 {

libraries/AP_Motors/AP_Motors_Class.h

@@ -199,16 +199,21 @@ public:
 
     // structure for holding motor limit flags
     struct AP_Motors_limit {
-        uint8_t roll            : 1; // we have reached roll or pitch limit
-        uint8_t pitch           : 1; // we have reached roll or pitch limit
-        uint8_t yaw             : 1; // we have reached yaw limit
-        uint8_t throttle_lower  : 1; // we have reached throttle's lower limit
-        uint8_t throttle_upper  : 1; // we have reached throttle's upper limit
+        bool roll;           // we have reached roll or pitch limit
+        bool pitch;          // we have reached roll or pitch limit
+        bool yaw;            // we have reached yaw limit
+        bool throttle_lower; // we have reached throttle's lower limit
+        bool throttle_upper; // we have reached throttle's upper limit
     } limit;
 
     // set limit flag for pitch, roll and yaw
     void set_limit_flag_pitch_roll_yaw(bool flag);
 
+#if AP_SCRIPTING_ENABLED
+    // set limit flag for pitch, roll and yaw
+    void set_external_limits(bool roll, bool pitch, bool yaw, bool throttle_lower, bool throttle_upper);
+#endif
+
     //
     // virtual functions that should be implemented by child classes
     //
@@ -367,6 +372,9 @@ protected:
 #if AP_SCRIPTING_ENABLED
     // Custom frame string set from scripting
     char* custom_frame_string;
+
+    // external limits from scripting
+    AP_Motors_limit external_limits;
 #endif
 
 private: