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msg: improve multirotor_motor_limits reporting

This commit is contained in:
Paul Riseborough 2016-11-22 07:59:46 +11:00 committed by Lorenz Meier
parent 1f72068de3
commit 3835e8cd79
1 changed files with 11 additions and 4 deletions
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15
msg/multirotor_motor_limits.msg
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@ -1,4 +1,11 @@
uint8 lower_limit # at least one actuator command has saturated on the lower limit
uint8 upper_limit # at least one actuator command has saturated on the upper limit
uint8 yaw # yaw limit reached
uint8 reserved # reserved
uint16 saturation_status # Integer bit mask indicating which axes in the control mixer are saturated
# 0 - True if any motor is saturated at the upper limit
# 1 - True if any motor is saturated at the lower limit
# 2 - True if a positive roll increment will increase motor saturation
# 3 - True if negative roll increment will increase motor saturation
# 4 - True if positive pitch increment will increase motor saturation
# 5 - True if negative pitch increment will increase motor saturation
# 6 - True if positive yaw increment will increase motor saturation
# 7 - True if negative yaw increment will increase motor saturation
# 8 - True if positive thrust increment will increase motor saturation
# 9 - True if negative thrust increment will increase motor saturation