Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests

2026-10-31 23:31:36 +08:00 · 2012-08-19 15:52:59 +02:00
parent 85bc4f683a
commit dae0b922f1
22 changed files with 399 additions and 565 deletions
@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ *
+ * 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 multirotor_position_control.h
+ * Definition of the position control for a multirotor VTOL
+ */
+
+#ifndef POSITION_CONTROL_H_
+#define POSITION_CONTROL_H_
+
+void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
+ const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
+ const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp);
+
+#endif /* POSITION_CONTROL_H_ */