Tested mc_att_control_m and mc_pos_control_m in jmavsim.OK.

src/modules/mc_att_control_multiplatform/mc_att_control.cpp

@@ -62,7 +62,7 @@ static const int ERROR = -1;
 
 }
 
-MulticopterAttitudeControl::MulticopterAttitudeControl() :
+MulticopterAttitudeControlMultiplatform::MulticopterAttitudeControlMultiplatform() :
 	MulticopterAttitudeControlBase(),
 	_task_should_exit(false),
 	_actuators_0_circuit_breaker_enabled(false),
@@ -104,23 +104,23 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	/*
 	 * do subscriptions
 	 */
-	_v_att = _n.subscribe<px4_vehicle_attitude>(&MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
+	_v_att = _n.subscribe<px4_vehicle_attitude>(&MulticopterAttitudeControlMultiplatform::handle_vehicle_attitude, this, 0);
 	_v_att_sp = _n.subscribe<px4_vehicle_attitude_setpoint>(0);
 	_v_rates_sp = _n.subscribe<px4_vehicle_rates_setpoint>(0);
 	_v_control_mode = _n.subscribe<px4_vehicle_control_mode>(0);
 	_parameter_update = _n.subscribe<px4_parameter_update>(
-			&MulticopterAttitudeControl::handle_parameter_update, this, 1000);
+			&MulticopterAttitudeControlMultiplatform::handle_parameter_update, this, 1000);
 	_manual_control_sp = _n.subscribe<px4_manual_control_setpoint>(0);
 	_armed = _n.subscribe<px4_actuator_armed>(0);
 	_v_status = _n.subscribe<px4_vehicle_status>(0);
 }
 
-MulticopterAttitudeControl::~MulticopterAttitudeControl()
+MulticopterAttitudeControlMultiplatform::~MulticopterAttitudeControlMultiplatform()
 {
 }
 
 int
-MulticopterAttitudeControl::parameters_update()
+MulticopterAttitudeControlMultiplatform::parameters_update()
 {
 	/* roll gains */
 	_params.att_p(0) = _params_handles.roll_p.update();
@@ -153,12 +153,12 @@ MulticopterAttitudeControl::parameters_update()
 	return OK;
 }
 
-void MulticopterAttitudeControl::handle_parameter_update(const px4_parameter_update &msg)
+void MulticopterAttitudeControlMultiplatform::handle_parameter_update(const px4_parameter_update &msg)
 {
 	parameters_update();
 }
 
-void  MulticopterAttitudeControl::handle_vehicle_attitude(const px4_vehicle_attitude &msg) {
+void  MulticopterAttitudeControlMultiplatform::handle_vehicle_attitude(const px4_vehicle_attitude &msg) {
 
 	perf_begin(_loop_perf);
 

src/modules/mc_att_control_multiplatform/mc_att_control.h

@@ -64,19 +64,19 @@
 
 #include "mc_att_control_base.h"
 
-class MulticopterAttitudeControl :
+class MulticopterAttitudeControlMultiplatform :
 	public MulticopterAttitudeControlBase
 {
 public:
 	/**
 	 * Constructor
 	 */
-	MulticopterAttitudeControl();
+	MulticopterAttitudeControlMultiplatform();
 
 	/**
 	 * Destructor, also kills the sensors task.
 	 */
-	~MulticopterAttitudeControl();
+	~MulticopterAttitudeControlMultiplatform();
 
 	/* Callbacks for topics */
 	void handle_vehicle_attitude(const px4_vehicle_attitude &msg);

src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp

@@ -54,19 +54,23 @@
 
 #include "mc_att_control.h"
 
-bool thread_running = false;     /**< Deamon status flag */
+bool mc_att_control_thread_running = false;     /**< Deamon status flag */
 
+#if defined(__PX4_ROS)
 int main(int argc, char **argv)
+#else
+int mc_att_control_start_main(int argc, char **argv)
+#endif
 {
 	px4::init(argc, argv, "mc_att_control_m");
 
 	PX4_INFO("starting");
-	MulticopterAttitudeControl attctl;
-	thread_running = true;
+	MulticopterAttitudeControlMultiplatform attctl;
+	mc_att_control_thread_running = true;
 	attctl.spin();
 
 	PX4_INFO("exiting.");
-	thread_running = false;
+	mc_att_control_thread_running = false;
 	return 0;
 }
 

src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp

@@ -41,57 +41,58 @@
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 
-extern bool thread_running;
-int daemon_task;             /**< Handle of deamon task / thread */
+extern bool mc_att_control_thread_running;
+int mc_att_control_daemon_task;             /**< Handle of deamon task / thread */
 namespace px4
 {
-bool task_should_exit = false;
+bool mc_att_control_task_should_exit = false;
 }
 using namespace px4;
 
-extern int main(int argc, char **argv);
+extern int mc_att_control_start_main(int argc, char **argv);
 
 extern "C" __EXPORT int mc_att_control_m_main(int argc, char *argv[]);
 int mc_att_control_m_main(int argc, char *argv[])
 {
 	if (argc < 2) {
-		errx(1, "usage: mc_att_control_m {start|stop|status}");
+		warnx("usage: mc_att_control_m {start|stop|status}");
+		return 1;
 	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (thread_running) {
+		if (mc_att_control_thread_running) {
 			warnx("already running");
 			/* this is not an error */
-			exit(0);
+			return 0;
 		}
 
-		task_should_exit = false;
-
-		daemon_task = px4_task_spawn_cmd("mc_att_control_m",
+		mc_att_control_task_should_exit = false;
+		warnx("ok now btak running");
+		mc_att_control_daemon_task = px4_task_spawn_cmd("mc_att_control_m",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1900,
-				       main,
+				       mc_att_control_start_main,
 					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
 
-		exit(0);
+		return 0;
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		task_should_exit = true;
-		exit(0);
+		mc_att_control_task_should_exit = true;
+		return 0;
 	}
 
 	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
+		if (mc_att_control_thread_running) {
 			warnx("is running");
 
 		} else {
 			warnx("not started");
 		}
 
-		exit(0);
+		return 0;
 	}
 
 	warnx("unrecognized command");