mc att control multiplatform alongside normal mc att control

CMakeLists.txt

@@ -168,9 +168,9 @@ target_link_libraries(subscriber
 
 ## MC Attitude Control
 add_executable(mc_att_control
-	src/modules/mc_att_control/mc_att_control_main.cpp
-	src/modules/mc_att_control/mc_att_control.cpp
-	src/modules/mc_att_control/mc_att_control_base.cpp)
+	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
 add_dependencies(mc_att_control px4_generate_messages_cpp)
 target_link_libraries(mc_att_control
   ${catkin_LIBRARIES}

makefiles/config_px4fmu-v2_default.mk

@@ -86,6 +86,7 @@ MODULES		+= modules/position_estimator_inav
 #MODULES		+= modules/fw_pos_control_l1
 #MODULES		+= modules/fw_att_control
 MODULES		+= modules/mc_att_control
+MODULES		+= modules/mc_att_control_multiplatform
 MODULES		+= modules/mc_pos_control
 MODULES 	+= modules/vtol_att_control
 

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -38,9 +38,6 @@
  * @author Tobias Naegeli <naegelit@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Anton Babushkin <anton.babushkin@me.com>
- * @author Thomas Gubler <thomasgubler@gmail.com>
- * @author Julian Oes <julian@oes.ch>
- * @author Roman Bapst <bapstr@ethz.ch>
  *
  * The controller has two loops: P loop for angular error and PD loop for angular rate error.
  * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
@@ -52,91 +49,928 @@
  * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
  */
 
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
-#include <cstdlib>
-#include "mc_att_control.h"
+#include <unistd.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/parameter_update.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/circuit_breaker.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/geo/geo.h>
 
-static bool thread_running = false;     /**< Deamon status flag */
-static int daemon_task;             /**< Handle of deamon task / thread */
-namespace px4
-{
-bool task_should_exit = false;
-}
-
-using namespace px4;
-
-PX4_MAIN_FUNCTION(mc_att_control);
-void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
-		PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
-}
-
-
-#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
 /**
  * Multicopter attitude control app start / stop handling function
  *
  * @ingroup apps
  */
+extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
 
-extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[])
+#define YAW_DEADZONE	0.05f
+#define MIN_TAKEOFF_THRUST    0.2f
+#define RATES_I_LIMIT	0.3f
+
+class MulticopterAttitudeControl
 {
-	if (argc < 1) {
-		errx(1, "usage: mc_att_control {start|stop|status}");
+public:
+	/**
+	 * Constructor
+	 */
+	MulticopterAttitudeControl();
+
+	/**
+	 * Destructor, also kills the main task
+	 */
+	~MulticopterAttitudeControl();
+
+	/**
+	 * Start the multicopter attitude control task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+private:
+
+	bool	_task_should_exit;		/**< if true, task_main() should exit */
+	int		_control_task;			/**< task handle */
+
+	int		_v_att_sub;				/**< vehicle attitude subscription */
+	int		_v_att_sp_sub;			/**< vehicle attitude setpoint subscription */
+	int		_v_rates_sp_sub;		/**< vehicle rates setpoint subscription */
+	int		_v_control_mode_sub;	/**< vehicle control mode subscription */
+	int		_params_sub;			/**< parameter updates subscription */
+	int		_manual_control_sp_sub;	/**< manual control setpoint subscription */
+	int		_armed_sub;				/**< arming status subscription */
+	int		_vehicle_status_sub;	/**< vehicle status subscription */
+
+	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
+	orb_advert_t	_v_rates_sp_pub;		/**< rate setpoint publication */
+	orb_advert_t	_actuators_0_pub;		/**< attitude actuator controls publication */
+
+	orb_id_t _rates_sp_id;	/**< pointer to correct rates setpoint uORB metadata structure */
+	orb_id_t _actuators_id;	/**< pointer to correct actuator controls0 uORB metadata structure */
+
+	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
+
+	struct vehicle_attitude_s			_v_att;				/**< vehicle attitude */
+	struct vehicle_attitude_setpoint_s	_v_att_sp;			/**< vehicle attitude setpoint */
+	struct vehicle_rates_setpoint_s		_v_rates_sp;		/**< vehicle rates setpoint */
+	struct manual_control_setpoint_s	_manual_control_sp;	/**< manual control setpoint */
+	struct vehicle_control_mode_s		_v_control_mode;	/**< vehicle control mode */
+	struct actuator_controls_s			_actuators;			/**< actuator controls */
+	struct actuator_armed_s				_armed;				/**< actuator arming status */
+	struct vehicle_status_s				_vehicle_status;	/**< vehicle status */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	math::Vector<3>		_rates_prev;	/**< angular rates on previous step */
+	math::Vector<3>		_rates_sp;		/**< angular rates setpoint */
+	math::Vector<3>		_rates_int;		/**< angular rates integral error */
+	float				_thrust_sp;		/**< thrust setpoint */
+	math::Vector<3>		_att_control;	/**< attitude control vector */
+
+	math::Matrix<3, 3>  _I;				/**< identity matrix */
+
+	bool	_reset_yaw_sp;			/**< reset yaw setpoint flag */
+
+	struct {
+		param_t roll_p;
+		param_t roll_rate_p;
+		param_t roll_rate_i;
+		param_t roll_rate_d;
+		param_t pitch_p;
+		param_t pitch_rate_p;
+		param_t pitch_rate_i;
+		param_t pitch_rate_d;
+		param_t yaw_p;
+		param_t yaw_rate_p;
+		param_t yaw_rate_i;
+		param_t yaw_rate_d;
+		param_t yaw_ff;
+		param_t yaw_rate_max;
+
+		param_t man_roll_max;
+		param_t man_pitch_max;
+		param_t man_yaw_max;
+		param_t acro_roll_max;
+		param_t acro_pitch_max;
+		param_t acro_yaw_max;
+
+	}		_params_handles;		/**< handles for interesting parameters */
+
+	struct {
+		math::Vector<3> att_p;					/**< P gain for angular error */
+		math::Vector<3> rate_p;				/**< P gain for angular rate error */
+		math::Vector<3> rate_i;				/**< I gain for angular rate error */
+		math::Vector<3> rate_d;				/**< D gain for angular rate error */
+		float yaw_ff;						/**< yaw control feed-forward */
+		float yaw_rate_max;					/**< max yaw rate */
+
+		float man_roll_max;
+		float man_pitch_max;
+		float man_yaw_max;
+		math::Vector<3> acro_rate_max;		/**< max attitude rates in acro mode */
+
+	}		_params;
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int			parameters_update();
+
+	/**
+	 * Check for parameter update and handle it.
+	 */
+	void		parameter_update_poll();
+
+	/**
+	 * Check for changes in vehicle control mode.
+	 */
+	void		vehicle_control_mode_poll();
+
+	/**
+	 * Check for changes in manual inputs.
+	 */
+	void		vehicle_manual_poll();
+
+	/**
+	 * Check for attitude setpoint updates.
+	 */
+	void		vehicle_attitude_setpoint_poll();
+
+	/**
+	 * Check for rates setpoint updates.
+	 */
+	void		vehicle_rates_setpoint_poll();
+
+	/**
+	 * Check for arming status updates.
+	 */
+	void		arming_status_poll();
+
+	/**
+	 * Attitude controller.
+	 */
+	void		control_attitude(float dt);
+
+	/**
+	 * Attitude rates controller.
+	 */
+	void		control_attitude_rates(float dt);
+
+	/**
+	 * Check for vehicle status updates.
+	 */
+	void		vehicle_status_poll();
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	static void	task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main attitude control task.
+	 */
+	void		task_main();
+};
+
+namespace mc_att_control
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+MulticopterAttitudeControl	*g_control;
+}
+
+MulticopterAttitudeControl::MulticopterAttitudeControl() :
+
+	_task_should_exit(false),
+	_control_task(-1),
+
+/* subscriptions */
+	_v_att_sub(-1),
+	_v_att_sp_sub(-1),
+	_v_control_mode_sub(-1),
+	_params_sub(-1),
+	_manual_control_sp_sub(-1),
+	_armed_sub(-1),
+	_vehicle_status_sub(-1),
+
+/* publications */
+	_att_sp_pub(-1),
+	_v_rates_sp_pub(-1),
+	_actuators_0_pub(-1),
+	_rates_sp_id(0),
+	_actuators_id(0),
+
+	_actuators_0_circuit_breaker_enabled(false),
+
+/* performance counters */
+	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
+
+{
+	memset(&_v_att, 0, sizeof(_v_att));
+	memset(&_v_att_sp, 0, sizeof(_v_att_sp));
+	memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
+	memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
+	memset(&_v_control_mode, 0, sizeof(_v_control_mode));
+	memset(&_actuators, 0, sizeof(_actuators));
+	memset(&_armed, 0, sizeof(_armed));
+	memset(&_vehicle_status, 0, sizeof(_vehicle_status));
+	_vehicle_status.is_rotary_wing = true;
+
+	_params.att_p.zero();
+	_params.rate_p.zero();
+	_params.rate_i.zero();
+	_params.rate_d.zero();
+	_params.yaw_ff = 0.0f;
+	_params.yaw_rate_max = 0.0f;
+	_params.man_roll_max = 0.0f;
+	_params.man_pitch_max = 0.0f;
+	_params.man_yaw_max = 0.0f;
+	_params.acro_rate_max.zero();
+
+	_rates_prev.zero();
+	_rates_sp.zero();
+	_rates_int.zero();
+	_thrust_sp = 0.0f;
+	_att_control.zero();
+
+	_I.identity();
+
+	_params_handles.roll_p			= 	param_find("MC_ROLL_P");
+	_params_handles.roll_rate_p		= 	param_find("MC_ROLLRATE_P");
+	_params_handles.roll_rate_i		= 	param_find("MC_ROLLRATE_I");
+	_params_handles.roll_rate_d		= 	param_find("MC_ROLLRATE_D");
+	_params_handles.pitch_p			= 	param_find("MC_PITCH_P");
+	_params_handles.pitch_rate_p	= 	param_find("MC_PITCHRATE_P");
+	_params_handles.pitch_rate_i	= 	param_find("MC_PITCHRATE_I");
+	_params_handles.pitch_rate_d	= 	param_find("MC_PITCHRATE_D");
+	_params_handles.yaw_p			=	param_find("MC_YAW_P");
+	_params_handles.yaw_rate_p		= 	param_find("MC_YAWRATE_P");
+	_params_handles.yaw_rate_i		= 	param_find("MC_YAWRATE_I");
+	_params_handles.yaw_rate_d		= 	param_find("MC_YAWRATE_D");
+	_params_handles.yaw_ff			= 	param_find("MC_YAW_FF");
+	_params_handles.yaw_rate_max	= 	param_find("MC_YAWRATE_MAX");
+	_params_handles.man_roll_max	= 	param_find("MC_MAN_R_MAX");
+	_params_handles.man_pitch_max	= 	param_find("MC_MAN_P_MAX");
+	_params_handles.man_yaw_max		= 	param_find("MC_MAN_Y_MAX");
+	_params_handles.acro_roll_max	= 	param_find("MC_ACRO_R_MAX");
+	_params_handles.acro_pitch_max	= 	param_find("MC_ACRO_P_MAX");
+	_params_handles.acro_yaw_max		= 	param_find("MC_ACRO_Y_MAX");
+
+	/* fetch initial parameter values */
+	parameters_update();
+}
+
+MulticopterAttitudeControl::~MulticopterAttitudeControl()
+{
+	if (_control_task != -1) {
+		/* task wakes up every 100ms or so at the longest */
+		_task_should_exit = true;
+
+		/* wait for a second for the task to quit at our request */
+		unsigned i = 0;
+
+		do {
+			/* wait 20ms */
+			usleep(20000);
+
+			/* if we have given up, kill it */
+			if (++i > 50) {
+				task_delete(_control_task);
+				break;
+			}
+		} while (_control_task != -1);
 	}
 
+	mc_att_control::g_control = nullptr;
+}
+
+int
+MulticopterAttitudeControl::parameters_update()
+{
+	float v;
+
+	/* roll gains */
+	param_get(_params_handles.roll_p, &v);
+	_params.att_p(0) = v;
+	param_get(_params_handles.roll_rate_p, &v);
+	_params.rate_p(0) = v;
+	param_get(_params_handles.roll_rate_i, &v);
+	_params.rate_i(0) = v;
+	param_get(_params_handles.roll_rate_d, &v);
+	_params.rate_d(0) = v;
+
+	/* pitch gains */
+	param_get(_params_handles.pitch_p, &v);
+	_params.att_p(1) = v;
+	param_get(_params_handles.pitch_rate_p, &v);
+	_params.rate_p(1) = v;
+	param_get(_params_handles.pitch_rate_i, &v);
+	_params.rate_i(1) = v;
+	param_get(_params_handles.pitch_rate_d, &v);
+	_params.rate_d(1) = v;
+
+	/* yaw gains */
+	param_get(_params_handles.yaw_p, &v);
+	_params.att_p(2) = v;
+	param_get(_params_handles.yaw_rate_p, &v);
+	_params.rate_p(2) = v;
+	param_get(_params_handles.yaw_rate_i, &v);
+	_params.rate_i(2) = v;
+	param_get(_params_handles.yaw_rate_d, &v);
+	_params.rate_d(2) = v;
+
+	param_get(_params_handles.yaw_ff, &_params.yaw_ff);
+	param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
+	_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
+
+	/* manual control scale */
+	param_get(_params_handles.man_roll_max, &_params.man_roll_max);
+	param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
+	param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
+	_params.man_roll_max = math::radians(_params.man_roll_max);
+	_params.man_pitch_max = math::radians(_params.man_pitch_max);
+	_params.man_yaw_max = math::radians(_params.man_yaw_max);
+
+	/* acro control scale */
+	param_get(_params_handles.acro_roll_max, &v);
+	_params.acro_rate_max(0) = math::radians(v);
+	param_get(_params_handles.acro_pitch_max, &v);
+	_params.acro_rate_max(1) = math::radians(v);
+	param_get(_params_handles.acro_yaw_max, &v);
+	_params.acro_rate_max(2) = math::radians(v);
+
+	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
+
+	return OK;
+}
+
+void
+MulticopterAttitudeControl::parameter_update_poll()
+{
+	bool updated;
+
+	/* Check if parameters have changed */
+	orb_check(_params_sub, &updated);
+
+	if (updated) {
+		struct parameter_update_s param_update;
+		orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
+		parameters_update();
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_control_mode_poll()
+{
+	bool updated;
+
+	/* Check if vehicle control mode has changed */
+	orb_check(_v_control_mode_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_manual_poll()
+{
+	bool updated;
+
+	/* get pilots inputs */
+	orb_check(_manual_control_sp_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
+{
+	/* check if there is a new setpoint */
+	bool updated;
+	orb_check(_v_att_sp_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
+{
+	/* check if there is a new setpoint */
+	bool updated;
+	orb_check(_v_rates_sp_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
+	}
+}
+
+void
+MulticopterAttitudeControl::arming_status_poll()
+{
+	/* check if there is a new setpoint */
+	bool updated;
+	orb_check(_armed_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_status_poll()
+{
+	/* check if there is new status information */
+	bool vehicle_status_updated;
+	orb_check(_vehicle_status_sub, &vehicle_status_updated);
+
+	if (vehicle_status_updated) {
+		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
+		/* set correct uORB ID, depending on if vehicle is VTOL or not */
+		if (!_rates_sp_id) {
+			if (_vehicle_status.is_vtol) {
+				_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
+				_actuators_id = ORB_ID(actuator_controls_virtual_mc);
+			} else {
+				_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
+				_actuators_id = ORB_ID(actuator_controls_0);
+			}
+		}
+	}
+}
+
+/*
+ * Attitude controller.
+ * Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode)
+ * Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes)
+ */
+void
+MulticopterAttitudeControl::control_attitude(float dt)
+{
+	float yaw_sp_move_rate = 0.0f;
+	bool publish_att_sp = false;
+
+	if (_v_control_mode.flag_control_manual_enabled) {
+		/* manual input, set or modify attitude setpoint */
+
+		if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) {
+			/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
+			vehicle_attitude_setpoint_poll();
+		}
+
+		if (!_v_control_mode.flag_control_climb_rate_enabled) {
+			/* pass throttle directly if not in altitude stabilized mode */
+			_v_att_sp.thrust = _manual_control_sp.z;
+			publish_att_sp = true;
+		}
+
+		if (!_armed.armed) {
+			/* reset yaw setpoint when disarmed */
+			_reset_yaw_sp = true;
+		}
+
+		/* move yaw setpoint in all modes */
+		if (_v_att_sp.thrust < 0.1f) {
+			// TODO
+			//if (_status.condition_landed) {
+			/* reset yaw setpoint if on ground */
+			//	reset_yaw_sp = true;
+			//}
+		} else {
+			/* move yaw setpoint */
+			yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
+			_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
+			float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
+			float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
+			if (yaw_offs < - yaw_offs_max) {
+				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
+
+			} else if (yaw_offs > yaw_offs_max) {
+				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
+			}
+			_v_att_sp.R_valid = false;
+			publish_att_sp = true;
+		}
+
+		/* reset yaw setpint to current position if needed */
+		if (_reset_yaw_sp) {
+			_reset_yaw_sp = false;
+			_v_att_sp.yaw_body = _v_att.yaw;
+			_v_att_sp.R_valid = false;
+			publish_att_sp = true;
+		}
+
+		if (!_v_control_mode.flag_control_velocity_enabled) {
+			/* update attitude setpoint if not in position control mode */
+			_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
+			_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
+			_v_att_sp.R_valid = false;
+			publish_att_sp = true;
+		}
+
+	} else {
+		/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
+		vehicle_attitude_setpoint_poll();
+
+		/* reset yaw setpoint after non-manual control mode */
+		_reset_yaw_sp = true;
+	}
+
+	_thrust_sp = _v_att_sp.thrust;
+
+	/* construct attitude setpoint rotation matrix */
+	math::Matrix<3, 3> R_sp;
+
+	if (_v_att_sp.R_valid) {
+		/* rotation matrix in _att_sp is valid, use it */
+		R_sp.set(&_v_att_sp.R_body[0]);
+
+	} else {
+		/* rotation matrix in _att_sp is not valid, use euler angles instead */
+		R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
+
+		/* copy rotation matrix back to setpoint struct */
+		memcpy(&_v_att_sp.R_body[0], &R_sp.data[0], sizeof(_v_att_sp.R_body));
+		_v_att_sp.R_valid = true;
+	}
+
+	/* publish the attitude setpoint if needed */
+	if (publish_att_sp && _vehicle_status.is_rotary_wing) {
+		_v_att_sp.timestamp = hrt_absolute_time();
+
+		if (_att_sp_pub > 0) {
+			orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_v_att_sp);
+
+		} else {
+			_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_v_att_sp);
+		}
+	}
+
+	/* rotation matrix for current state */
+	math::Matrix<3, 3> R;
+	R.set(_v_att.R);
+
+	/* all input data is ready, run controller itself */
+
+	/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
+	math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2));
+	math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
+
+	/* axis and sin(angle) of desired rotation */
+	math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z);
+
+	/* calculate angle error */
+	float e_R_z_sin = e_R.length();
+	float e_R_z_cos = R_z * R_sp_z;
+
+	/* calculate weight for yaw control */
+	float yaw_w = R_sp(2, 2) * R_sp(2, 2);
+
+	/* calculate rotation matrix after roll/pitch only rotation */
+	math::Matrix<3, 3> R_rp;
+
+	if (e_R_z_sin > 0.0f) {
+		/* get axis-angle representation */
+		float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
+		math::Vector<3> e_R_z_axis = e_R / e_R_z_sin;
+
+		e_R = e_R_z_axis * e_R_z_angle;
+
+		/* cross product matrix for e_R_axis */
+		math::Matrix<3, 3> e_R_cp;
+		e_R_cp.zero();
+		e_R_cp(0, 1) = -e_R_z_axis(2);
+		e_R_cp(0, 2) = e_R_z_axis(1);
+		e_R_cp(1, 0) = e_R_z_axis(2);
+		e_R_cp(1, 2) = -e_R_z_axis(0);
+		e_R_cp(2, 0) = -e_R_z_axis(1);
+		e_R_cp(2, 1) = e_R_z_axis(0);
+
+		/* rotation matrix for roll/pitch only rotation */
+		R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
+
+	} else {
+		/* zero roll/pitch rotation */
+		R_rp = R;
+	}
+
+	/* R_rp and R_sp has the same Z axis, calculate yaw error */
+	math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
+	math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
+	e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
+
+	if (e_R_z_cos < 0.0f) {
+		/* for large thrust vector rotations use another rotation method:
+		 * calculate angle and axis for R -> R_sp rotation directly */
+		math::Quaternion q;
+		q.from_dcm(R.transposed() * R_sp);
+		math::Vector<3> e_R_d = q.imag();
+		e_R_d.normalize();
+		e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
+
+		/* use fusion of Z axis based rotation and direct rotation */
+		float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
+		e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
+	}
+
+	/* calculate angular rates setpoint */
+	_rates_sp = _params.att_p.emult(e_R);
+
+	/* limit yaw rate */
+	_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
+
+	/* feed forward yaw setpoint rate */
+	_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
+}
+
+/*
+ * Attitude rates controller.
+ * Input: '_rates_sp' vector, '_thrust_sp'
+ * Output: '_att_control' vector
+ */
+void
+MulticopterAttitudeControl::control_attitude_rates(float dt)
+{
+	/* reset integral if disarmed */
+	if (!_armed.armed || !_vehicle_status.is_rotary_wing) {
+		_rates_int.zero();
+	}
+
+	/* current body angular rates */
+	math::Vector<3> rates;
+	rates(0) = _v_att.rollspeed;
+	rates(1) = _v_att.pitchspeed;
+	rates(2) = _v_att.yawspeed;
+
+	/* angular rates error */
+	math::Vector<3> rates_err = _rates_sp - rates;
+	_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
+	_rates_prev = rates;
+
+	/* update integral only if not saturated on low limit */
+	if (_thrust_sp > MIN_TAKEOFF_THRUST) {
+		for (int i = 0; i < 3; i++) {
+			if (fabsf(_att_control(i)) < _thrust_sp) {
+				float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
+
+				if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
+				    _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
+					_rates_int(i) = rate_i;
+				}
+			}
+		}
+	}
+}
+
+void
+MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
+{
+	mc_att_control::g_control->task_main();
+}
+
+void
+MulticopterAttitudeControl::task_main()
+{
+
+	/*
+	 * do subscriptions
+	 */
+	_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
+	_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
+	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+
+	/* initialize parameters cache */
+	parameters_update();
+
+	/* wakeup source: vehicle attitude */
+	struct pollfd fds[1];
+
+	fds[0].fd = _v_att_sub;
+	fds[0].events = POLLIN;
+
+	while (!_task_should_exit) {
+
+		/* wait for up to 100ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+		/* timed out - periodic check for _task_should_exit */
+		if (pret == 0)
+			continue;
+
+		/* this is undesirable but not much we can do - might want to flag unhappy status */
+		if (pret < 0) {
+			warn("poll error %d, %d", pret, errno);
+			/* sleep a bit before next try */
+			usleep(100000);
+			continue;
+		}
+
+		perf_begin(_loop_perf);
+
+		/* run controller on attitude changes */
+		if (fds[0].revents & POLLIN) {
+			static uint64_t last_run = 0;
+			float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
+			last_run = hrt_absolute_time();
+
+			/* guard against too small (< 2ms) and too large (> 20ms) dt's */
+			if (dt < 0.002f) {
+				dt = 0.002f;
+
+			} else if (dt > 0.02f) {
+				dt = 0.02f;
+			}
+
+			/* copy attitude topic */
+			orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
+
+			/* check for updates in other topics */
+			parameter_update_poll();
+			vehicle_control_mode_poll();
+			arming_status_poll();
+			vehicle_manual_poll();
+			vehicle_status_poll();
+
+			if (_v_control_mode.flag_control_attitude_enabled) {
+				control_attitude(dt);
+
+				/* publish attitude rates setpoint */
+				_v_rates_sp.roll = _rates_sp(0);
+				_v_rates_sp.pitch = _rates_sp(1);
+				_v_rates_sp.yaw = _rates_sp(2);
+				_v_rates_sp.thrust = _thrust_sp;
+				_v_rates_sp.timestamp = hrt_absolute_time();
+
+				if (_v_rates_sp_pub > 0) {
+					orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
+
+				} else if (_rates_sp_id) {
+					_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
+				}
+
+			} else {
+				/* attitude controller disabled, poll rates setpoint topic */
+				if (_v_control_mode.flag_control_manual_enabled) {
+					/* manual rates control - ACRO mode */
+					_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
+					_thrust_sp = _manual_control_sp.z;
+
+					/* reset yaw setpoint after ACRO */
+					_reset_yaw_sp = true;
+
+					/* publish attitude rates setpoint */
+					_v_rates_sp.roll = _rates_sp(0);
+					_v_rates_sp.pitch = _rates_sp(1);
+					_v_rates_sp.yaw = _rates_sp(2);
+					_v_rates_sp.thrust = _thrust_sp;
+					_v_rates_sp.timestamp = hrt_absolute_time();
+
+					if (_v_rates_sp_pub > 0) {
+						orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
+
+					} else if (_rates_sp_id) {
+						_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
+					}
+
+				} else {
+					/* attitude controller disabled, poll rates setpoint topic */
+					vehicle_rates_setpoint_poll();
+					_rates_sp(0) = _v_rates_sp.roll;
+					_rates_sp(1) = _v_rates_sp.pitch;
+					_rates_sp(2) = _v_rates_sp.yaw;
+					_thrust_sp = _v_rates_sp.thrust;
+				}
+			}
+
+			if (_v_control_mode.flag_control_rates_enabled) {
+				control_attitude_rates(dt);
+
+				/* publish actuator controls */
+				_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
+				_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
+				_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
+				_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
+				_actuators.timestamp = hrt_absolute_time();
+
+				if (!_actuators_0_circuit_breaker_enabled) {
+					if (_actuators_0_pub > 0) {
+						orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
+
+					} else if (_actuators_id) {
+						_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
+					}
+
+				}
+			}
+		}
+
+		perf_end(_loop_perf);
+	}
+
+	warnx("exit");
+
+	_control_task = -1;
+	_exit(0);
+}
+
+int
+MulticopterAttitudeControl::start()
+{
+	ASSERT(_control_task == -1);
+
+	/* start the task */
+	_control_task = task_spawn_cmd("mc_att_control",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
+				       nullptr);
+
+	if (_control_task < 0) {
+		warn("task start failed");
+		return -errno;
+	}
+
+	return OK;
+}
+
+int mc_att_control_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		errx(1, "usage: mc_att_control {start|stop|status}");
+
 	if (!strcmp(argv[1], "start")) {
 
-		if (thread_running) {
-			warnx("already running");
-			/* this is not an error */
-			exit(0);
+		if (mc_att_control::g_control != nullptr)
+			errx(1, "already running");
+
+		mc_att_control::g_control = new MulticopterAttitudeControl;
+
+		if (mc_att_control::g_control == nullptr)
+			errx(1, "alloc failed");
+
+		if (OK != mc_att_control::g_control->start()) {
+			delete mc_att_control::g_control;
+			mc_att_control::g_control = nullptr;
+			err(1, "start failed");
 		}
 
-		task_should_exit = false;
-
-		daemon_task = task_spawn_cmd("mc_att_control",
-				       SCHED_DEFAULT,
-				       SCHED_PRIORITY_MAX - 5,
-				       3000,
-				       mc_att_control_task_main,
-					(argv) ? (const char **)&argv[2] : (const char **)NULL);
-
 		exit(0);
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		task_should_exit = true;
+		if (mc_att_control::g_control == nullptr)
+			errx(1, "not running");
+
+		delete mc_att_control::g_control;
+		mc_att_control::g_control = nullptr;
 		exit(0);
 	}
 
 	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("is running");
+		if (mc_att_control::g_control) {
+			errx(0, "running");
 
 		} else {
-			warnx("not started");
+			errx(1, "not running");
 		}
-
-		exit(0);
 	}
 
 	warnx("unrecognized command");
 	return 1;
 }
-#endif
-
-PX4_MAIN_FUNCTION(mc_att_control)
-{
-	px4::init(argc, argv, "mc_att_control");
-
-	PX4_INFO("starting");
-	MulticopterAttitudeControl attctl;
-	thread_running = true;
-	attctl.spin();
-
-	PX4_INFO("exiting.");
-	thread_running = false;
-	return 0;
-}
-
-

src/modules/mc_att_control/mc_att_control_params.c

@@ -40,8 +40,6 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <px4_defines.h>
-#include "mc_att_control_params.h"
 #include <systemlib/param/param.h>
 
 /**
@@ -52,7 +50,7 @@
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
+PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
 
 /**
  * Roll rate P gain
@@ -62,7 +60,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
+PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
 
 /**
  * Roll rate I gain
@@ -72,7 +70,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
+PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
 
 /**
  * Roll rate D gain
@@ -82,7 +80,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
+PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
 
 /**
  * Pitch P gain
@@ -93,7 +91,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
+PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
 
 /**
  * Pitch rate P gain
@@ -103,7 +101,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
+PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
 
 /**
  * Pitch rate I gain
@@ -113,7 +111,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
+PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
 
 /**
  * Pitch rate D gain
@@ -123,7 +121,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
+PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
 
 /**
  * Yaw P gain
@@ -134,7 +132,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
+PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
 
 /**
  * Yaw rate P gain
@@ -144,7 +142,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
 
 /**
  * Yaw rate I gain
@@ -154,7 +152,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
 
 /**
  * Yaw rate D gain
@@ -164,7 +162,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
 
 /**
  * Yaw feed forward
@@ -175,7 +173,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
  * @max 1.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
+PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
 
 /**
  * Max yaw rate
@@ -187,7 +185,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
 
 /**
  * Max manual roll
@@ -197,7 +195,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
  * @max 90.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX);
+PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
 
 /**
  * Max manual pitch
@@ -207,7 +205,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX);
  * @max 90.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX);
+PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
 
 /**
  * Max manual yaw rate
@@ -216,7 +214,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX);
+PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
 
 /**
  * Max acro roll rate
@@ -226,7 +224,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
+PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
 
 /**
  * Max acro pitch rate
@@ -236,7 +234,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
+PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
 
 /**
  * Max acro yaw rate
@@ -245,4 +243,4 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX);
+PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);

src/modules/mc_att_control/module.mk

@@ -38,6 +38,4 @@
 MODULE_COMMAND	= mc_att_control
 
 SRCS		= mc_att_control_main.cpp \
-		  mc_att_control.cpp \
-		  mc_att_control_base.cpp \
-		  mc_att_control_params.c
+			  mc_att_control_params.c

src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp

@@ -0,0 +1,139 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 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 mc_att_control_main.cpp
+ * Multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Roman Bapst <bapstr@ethz.ch>
+ *
+ * The controller has two loops: P loop for angular error and PD loop for angular rate error.
+ * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
+ * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
+ * so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
+ * These two approaches fused seamlessly with weight depending on angular error.
+ * When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
+ * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
+ */
+
+#include <string.h>
+#include <cstdlib>
+#include "mc_att_control.h"
+
+static bool thread_running = false;     /**< Deamon status flag */
+static int daemon_task;             /**< Handle of deamon task / thread */
+namespace px4
+{
+bool task_should_exit = false;
+}
+
+using namespace px4;
+
+PX4_MAIN_FUNCTION(mc_att_control_multiplatform);
+
+#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
+/**
+ * Multicopter attitude control app start / stop handling function
+ *
+ * @ingroup apps
+ */
+
+extern "C" __EXPORT int mc_att_control_multiplatform_main(int argc, char *argv[]);
+int mc_att_control_multiplatform_main(int argc, char *argv[])
+{
+	if (argc < 1) {
+		errx(1, "usage: mc_att_control {start|stop|status}");
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("already running");
+			/* this is not an error */
+			exit(0);
+		}
+
+		task_should_exit = false;
+
+		daemon_task = task_spawn_cmd("mc_att_control",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       3000,
+				       mc_att_control_multiplatform_task_main,
+					(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		task_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("is running");
+
+		} else {
+			warnx("not started");
+		}
+
+		exit(0);
+	}
+
+	warnx("unrecognized command");
+	return 1;
+}
+#endif
+
+PX4_MAIN_FUNCTION(mc_att_control_multiplatform)
+{
+	px4::init(argc, argv, "mc_att_control_multiplatform");
+
+	PX4_INFO("starting");
+	MulticopterAttitudeControl attctl;
+	thread_running = true;
+	attctl.spin();
+
+	PX4_INFO("exiting.");
+	thread_running = false;
+	return 0;
+}
+
+

src/modules/mc_att_control_multiplatform/mc_att_control_params.c

@@ -0,0 +1,248 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 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 mc_att_control_params.c
+ * Parameters for multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <px4_defines.h>
+#include "mc_att_control_params.h"
+#include <systemlib/param/param.h>
+
+/**
+ * Roll P gain
+ *
+ * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
+
+/**
+ * Roll rate P gain
+ *
+ * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
+
+/**
+ * Roll rate I gain
+ *
+ * Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
+
+/**
+ * Roll rate D gain
+ *
+ * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
+
+/**
+ * Pitch P gain
+ *
+ * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
+ *
+ * @unit 1/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
+
+/**
+ * Pitch rate P gain
+ *
+ * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
+
+/**
+ * Pitch rate I gain
+ *
+ * Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
+
+/**
+ * Pitch rate D gain
+ *
+ * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
+
+/**
+ * Yaw P gain
+ *
+ * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
+ *
+ * @unit 1/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
+
+/**
+ * Yaw rate P gain
+ *
+ * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
+
+/**
+ * Yaw rate I gain
+ *
+ * Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
+
+/**
+ * Yaw rate D gain
+ *
+ * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
+
+/**
+ * Yaw feed forward
+ *
+ * Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
+
+/**
+ * Max yaw rate
+ *
+ * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
+
+/**
+ * Max manual roll
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX);
+
+/**
+ * Max manual pitch
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX);
+
+/**
+ * Max manual yaw rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX);
+
+/**
+ * Max acro roll rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
+
+/**
+ * Max acro pitch rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
+
+/**
+ * Max acro yaw rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX);

src/modules/mc_att_control_multiplatform/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2013, 2014 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.
+#
+############################################################################
+
+#
+# Multirotor attitude controller (vector based, no Euler singularities)
+#
+
+MODULE_COMMAND	= mc_att_control_multiplatform
+
+SRCS		= mc_att_control_main.cpp \
+		  mc_att_control.cpp \
+		  mc_att_control_base.cpp \
+		  mc_att_control_params.c