From 2e558b34b2ac22d170280140af95480caac6f633 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 15 Aug 2012 16:21:24 +0200
Subject: [PATCH 01/34] added position control documentation diagram

---
 Documentation/position_control.odg | Bin 0 -> 12559 bytes
 Documentation/position_control.png | Bin 0 -> 36561 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 Documentation/position_control.odg
 create mode 100644 Documentation/position_control.png

diff --git a/Documentation/position_control.odg b/Documentation/position_control.odg
new file mode 100644
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From 1cf92ad605f6270c76f701321059dc7fe4f91d8a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 16 Aug 2012 13:41:47 +0200
Subject: [PATCH 02/34] updated commander documentation diagram

---
 Documentation/commander_app.odg | Bin 12944 -> 12014 bytes
 Documentation/commander_app.pdf | Bin 18357 -> 0 bytes
 Documentation/commander_app.png | Bin 57865 -> 36152 bytes
 3 files changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 Documentation/commander_app.pdf

diff --git a/Documentation/commander_app.odg b/Documentation/commander_app.odg
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From 8b34eb589123ff4264d0593dcb0adf5b34ffff15 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 19 Aug 2012 14:22:34 +0200
Subject: [PATCH 03/34] made the commander app docu diagram nicer

---
 Documentation/commander_app.odg | Bin 12014 -> 11628 bytes
 Documentation/commander_app.png | Bin 36152 -> 25356 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Documentation/commander_app.odg b/Documentation/commander_app.odg
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From cd886ccff11e205ce61ef79e95da5953583ffc8a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 20 Aug 2012 13:20:57 +0200
Subject: [PATCH 04/34] docu diagrams: removed old inter app communication,
 updated state machine (is now also in a separate file)

---
 Documentation/code_structure_diagrams.odg | Bin 21581 -> 17975 bytes
 Documentation/inter_app_communication.odg | Bin 10337 -> 0 bytes
 Documentation/inter_app_communication.pdf | Bin 12744 -> 0 bytes
 Documentation/inter_app_communication.png | Bin 20516 -> 0 bytes
 Documentation/state_machine.odg           | Bin 0 -> 18576 bytes
 Documentation/state_machine.png           | Bin 210919 -> 208880 bytes
 6 files changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 Documentation/inter_app_communication.odg
 delete mode 100644 Documentation/inter_app_communication.pdf
 delete mode 100644 Documentation/inter_app_communication.png
 create mode 100644 Documentation/state_machine.odg

diff --git a/Documentation/code_structure_diagrams.odg b/Documentation/code_structure_diagrams.odg
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Kls+rG4*wq-GH0Ry


From 6c8fb8177e1f8fa825814bec0d756d2a429a3546 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 21 Oct 2012 18:45:24 +0200
Subject: [PATCH 05/34] Started implementing fw controller according to
 controller layout of the ASL lecture

---
 apps/fixedwing_control2/Makefile              |  45 ++++
 apps/fixedwing_control2/fixedwing_control2.c  | 237 ++++++++++++++++++
 .../fixedwing_control2_rate.c                 | 159 ++++++++++++
 .../fixedwing_control2_rate.h                 |  45 ++++
 nuttx/configs/px4fmu/nsh/appconfig            |   1 +
 5 files changed, 487 insertions(+)
 create mode 100644 apps/fixedwing_control2/Makefile
 create mode 100644 apps/fixedwing_control2/fixedwing_control2.c
 create mode 100644 apps/fixedwing_control2/fixedwing_control2_rate.c
 create mode 100644 apps/fixedwing_control2/fixedwing_control2_rate.h

diff --git a/apps/fixedwing_control2/Makefile b/apps/fixedwing_control2/Makefile
new file mode 100644
index 0000000000..0db19875a4
--- /dev/null
+++ b/apps/fixedwing_control2/Makefile
@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# Fixedwing Control application
+#
+
+APPNAME		 = fixedwing_control2
+PRIORITY	 = SCHED_PRIORITY_MAX - 30
+STACKSIZE	 = 2048
+
+INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
+
+include $(APPDIR)/mk/app.mk
+
diff --git a/apps/fixedwing_control2/fixedwing_control2.c b/apps/fixedwing_control2/fixedwing_control2.c
new file mode 100644
index 0000000000..7730742897
--- /dev/null
+++ b/apps/fixedwing_control2/fixedwing_control2.c
@@ -0,0 +1,237 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Ivan Ovinnikov <oivan@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 fixedwing_control2.c
+ * Implementation of a fixed wing attitude controller.
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <arch/board/up_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.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 <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
+
+#include <fixedwing_control2_rate.h>
+
+/* Prototypes */
+/**
+ * Deamon management function.
+ */
+__EXPORT int fixedwing_control2_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int fixedwing_control2_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+/* Variables */
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
+
+/* Main Thread */
+int fixedwing_control2_thread_main(int argc, char *argv[])
+{
+	/* read arguments */
+		bool verbose = false;
+
+		for (int i = 1; i < argc; i++) {
+			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+				verbose = true;
+			}
+		}
+
+		/* welcome user */
+		printf("[fixedwing control2] started\n");
+
+		/* declare and safely initialize all structs */
+		struct vehicle_attitude_s att;
+		memset(&att, 0, sizeof(att));
+		struct vehicle_rates_setpoint_s rates_sp;
+		memset(&rates_sp, 0, sizeof(rates_sp));
+
+		/* output structs */
+		struct actuator_controls_s actuators;
+		memset(&actuators, 0, sizeof(actuators));
+
+		/* publish actuator controls */
+		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+			actuators.control[i] = 0.0f;
+		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+
+
+
+		/* subscribe to attitude (for attitude rate) and rate septoint */
+		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+
+		/* Setup of loop */
+		float gyro[3] = {0.0f, 0.0f, 0.0f};
+		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+
+		while(!thread_should_exit)
+		{
+			/* wait for a sensor update, check for exit condition every 500 ms */
+			poll(&fds, 1, 500);
+
+			/*Get Local Copies */
+			/* get a local copy of attitude */
+			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+			gyro[0] = att.rollspeed;
+			gyro[1] = att.pitchspeed;
+			gyro[2] = att.yawspeed;
+
+			/* Control */
+
+			/* Attitude Control */
+			rates_sp.roll = 0.0f;
+			rates_sp.pitch = 0.0f;
+			rates_sp.yaw = 0.0f;
+
+			/* Attitude Rate Control */
+			fixedwing_control2_rates(&rates_sp, gyro, &actuators);
+
+			//REMOVEME XXX
+			actuators.control[3] = 0.7f;
+
+			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+		}
+
+		printf("[fixedwing_control2] exiting, stopping all motors.\n");
+		thread_running = false;
+
+		/* kill all outputs */
+		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+			actuators.control[i] = 0.0f;
+		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+
+
+		close(att_sub);
+		close(actuator_pub);
+
+		fflush(stdout);
+		exit(0);
+
+		return 0;
+
+}
+
+/* Startup Functions */
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: fixedwing_control2 {start|stop|status}\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int fixedwing_control2_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("fixedwing_control2 already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("fixedwing_control2",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 20,
+					 4096,
+					 fixedwing_control2_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tfixedwing_control2 is running\n");
+		} else {
+			printf("\tfixedwing_control2 not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+
+
diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.c b/apps/fixedwing_control2/fixedwing_control2_rate.c
new file mode 100644
index 0000000000..9c6f9d5912
--- /dev/null
+++ b/apps/fixedwing_control2/fixedwing_control2_rate.c
@@ -0,0 +1,159 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@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 fixedwing_control2.c
+ * Implementation of a fixed wing attitude controller.
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <arch/board/up_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+#include <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
+
+
+struct fw_rate_control_params {
+
+	param_t yawrate_p;
+	param_t yawrate_i;
+	param_t yawrate_d;
+	param_t yawrate_awu;
+	param_t yawrate_lim;
+
+	param_t attrate_p;
+	param_t attrate_i;
+	param_t attrate_d;
+	param_t attrate_awu;
+	param_t attrate_lim;
+};
+
+
+
+/* Internal Prototypes */
+static int parameters_init(struct fw_rate_control_params *h);
+static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p);
+
+static int parameters_init(struct fw_rate_control_params *h)
+{
+	/* PID parameters */
+	h->yawrate_p 	=	param_find("MC_YAWRATE_P");   //TODO define rate params for fixed wing
+	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
+	h->yawrate_d 	=	param_find("MC_YAWRATE_D");
+	h->yawrate_awu 	=	param_find("MC_YAWRATE_AWU");
+	h->yawrate_lim 	=	param_find("MC_YAWRATE_LIM");
+
+	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
+	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
+	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
+	h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
+	h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
+
+	return OK;
+}
+
+static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p)
+{
+	param_get(h->yawrate_p, &(p->yawrate_p));
+	param_get(h->yawrate_i, &(p->yawrate_i));
+	param_get(h->yawrate_d, &(p->yawrate_d));
+	param_get(h->yawrate_awu, &(p->yawrate_awu));
+	param_get(h->yawrate_lim, &(p->yawrate_lim));
+
+	param_get(h->attrate_p, &(p->attrate_p));
+	param_get(h->attrate_i, &(p->attrate_i));
+	param_get(h->attrate_d, &(p->attrate_d));
+	param_get(h->attrate_awu, &(p->attrate_awu));
+	param_get(h->attrate_lim, &(p->attrate_lim));
+
+	return OK;
+}
+
+
+int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+		const float rates[],
+		struct actuator_controls_s *actuators)
+{
+	static int counter = 0;
+	static bool initialized = false;
+
+	static struct fw_rate_control_params p;
+	static struct fw_rate_control_params h;
+
+	if(!initialized)
+	{
+		parameters_init(&h);
+		parameters_update(&h, &p);
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (counter % 2500 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+		printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
+	}
+
+	/* Roll Rate */
+	float roll_error = rate_sp->roll - rates[0];
+	actuators->control[0] =p.attrate_p*roll_error;
+
+
+	actuators->control[1] = 0;
+	actuators->control[2] = 0;
+
+	counter++;
+
+	return 0;
+}
+
+
+
diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.h b/apps/fixedwing_control2/fixedwing_control2_rate.h
new file mode 100644
index 0000000000..39aa54abe5
--- /dev/null
+++ b/apps/fixedwing_control2/fixedwing_control2_rate.h
@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@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 Main system state machine definition */
+
+#ifndef FIXEDWING_CONTROL2_RATE_H_
+#define FIXEDWING_CONTROL2_RATE_H_
+
+int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+		const float rates[],
+		struct actuator_controls_s *actuators);
+
+#endif /* FIXEDWING_CONTROL2_RATE_H_ */
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index be0a3d1d71..96a5871310 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -78,6 +78,7 @@ CONFIGURED_APPS += multirotor_att_control
 CONFIGURED_APPS += multirotor_pos_control
 CONFIGURED_APPS += px4/attitude_estimator_bm
 CONFIGURED_APPS += fixedwing_control
+CONFIGURED_APPS += fixedwing_control2
 CONFIGURED_APPS += position_estimator
 CONFIGURED_APPS += attitude_estimator_ekf
 CONFIGURED_APPS += px4/ground_estimator

From 5616f5c4b1a40bab6a48ec95775ed74a03c73273 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 21 Oct 2012 21:01:22 +0200
Subject: [PATCH 06/34] [work in progess] added pos control skeleton

---
 .../Makefile                                  |   2 +-
 .../fixedwing_att_control_main.c}             |  30 +--
 .../fixedwing_att_control_rate.c}             |  30 ++-
 .../fixedwing_att_control_rate.h}             |  11 +-
 apps/fixedwing_pos_control/Makefile           |  45 ++++
 .../fixedwing_pos_control_main.c              | 208 ++++++++++++++++++
 nuttx/configs/px4fmu/nsh/appconfig            |   3 +-
 7 files changed, 299 insertions(+), 30 deletions(-)
 rename apps/{fixedwing_control2 => fixedwing_att_control}/Makefile (98%)
 rename apps/{fixedwing_control2/fixedwing_control2.c => fixedwing_att_control/fixedwing_att_control_main.c} (87%)
 rename apps/{fixedwing_control2/fixedwing_control2_rate.c => fixedwing_att_control/fixedwing_att_control_rate.c} (83%)
 rename apps/{fixedwing_control2/fixedwing_control2_rate.h => fixedwing_att_control/fixedwing_att_control_rate.h} (86%)
 create mode 100644 apps/fixedwing_pos_control/Makefile
 create mode 100644 apps/fixedwing_pos_control/fixedwing_pos_control_main.c

diff --git a/apps/fixedwing_control2/Makefile b/apps/fixedwing_att_control/Makefile
similarity index 98%
rename from apps/fixedwing_control2/Makefile
rename to apps/fixedwing_att_control/Makefile
index 0db19875a4..01465fa9ec 100644
--- a/apps/fixedwing_control2/Makefile
+++ b/apps/fixedwing_att_control/Makefile
@@ -35,7 +35,7 @@
 # Fixedwing Control application
 #
 
-APPNAME		 = fixedwing_control2
+APPNAME		 = fixedwing_att_control
 PRIORITY	 = SCHED_PRIORITY_MAX - 30
 STACKSIZE	 = 2048
 
diff --git a/apps/fixedwing_control2/fixedwing_control2.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
similarity index 87%
rename from apps/fixedwing_control2/fixedwing_control2.c
rename to apps/fixedwing_att_control/fixedwing_att_control_main.c
index 7730742897..4680147a1d 100644
--- a/apps/fixedwing_control2/fixedwing_control2.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -32,7 +32,7 @@
  *
  ****************************************************************************/
 /**
- * @file fixedwing_control2.c
+ * @file fixedwing_att_control.c
  * Implementation of a fixed wing attitude controller.
  */
 
@@ -62,18 +62,18 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
-#include <fixedwing_control2_rate.h>
+#include <fixedwing_att_control_rate.h>
 
 /* Prototypes */
 /**
  * Deamon management function.
  */
-__EXPORT int fixedwing_control2_main(int argc, char *argv[]);
+__EXPORT int fixedwing_att_control_main(int argc, char *argv[]);
 
 /**
  * Mainloop of deamon.
  */
-int fixedwing_control2_thread_main(int argc, char *argv[]);
+int fixedwing_att_control_thread_main(int argc, char *argv[]);
 
 /**
  * Print the correct usage.
@@ -86,7 +86,7 @@ static bool thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
 
 /* Main Thread */
-int fixedwing_control2_thread_main(int argc, char *argv[])
+int fixedwing_att_control_thread_main(int argc, char *argv[])
 {
 	/* read arguments */
 		bool verbose = false;
@@ -98,7 +98,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[])
 		}
 
 		/* welcome user */
-		printf("[fixedwing control2] started\n");
+		printf("[fixedwing att_control] started\n");
 
 		/* declare and safely initialize all structs */
 		struct vehicle_attitude_s att;
@@ -145,7 +145,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[])
 			rates_sp.yaw = 0.0f;
 
 			/* Attitude Rate Control */
-			fixedwing_control2_rates(&rates_sp, gyro, &actuators);
+			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
 
 			//REMOVEME XXX
 			actuators.control[3] = 0.7f;
@@ -153,7 +153,7 @@ int fixedwing_control2_thread_main(int argc, char *argv[])
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		}
 
-		printf("[fixedwing_control2] exiting, stopping all motors.\n");
+		printf("[fixedwing_att_control] exiting, stopping all motors.\n");
 		thread_running = false;
 
 		/* kill all outputs */
@@ -179,7 +179,7 @@ usage(const char *reason)
 {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: fixedwing_control2 {start|stop|status}\n\n");
+	fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n");
 	exit(1);
 }
 
@@ -191,7 +191,7 @@ usage(const char *reason)
  * The actual stack size should be set in the call
  * to task_create().
  */
-int fixedwing_control2_main(int argc, char *argv[])
+int fixedwing_att_control_main(int argc, char *argv[])
 {
 	if (argc < 1)
 		usage("missing command");
@@ -199,17 +199,17 @@ int fixedwing_control2_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			printf("fixedwing_control2 already running\n");
+			printf("fixedwing_att_control already running\n");
 			/* this is not an error */
 			exit(0);
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn("fixedwing_control2",
+		deamon_task = task_spawn("fixedwing_att_control",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 20,
 					 4096,
-					 fixedwing_control2_thread_main,
+					 fixedwing_att_control_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
@@ -222,9 +222,9 @@ int fixedwing_control2_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tfixedwing_control2 is running\n");
+			printf("\tfixedwing_att_control is running\n");
 		} else {
-			printf("\tfixedwing_control2 not started\n");
+			printf("\tfixedwing_att_control not started\n");
 		}
 		exit(0);
 	}
diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
similarity index 83%
rename from apps/fixedwing_control2/fixedwing_control2_rate.c
rename to apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 9c6f9d5912..d00909104c 100644
--- a/apps/fixedwing_control2/fixedwing_control2_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -32,9 +32,10 @@
  *
  ****************************************************************************/
 /**
- * @file fixedwing_control2.c
+ * @file fixedwing_att_control_rate.c
  * Implementation of a fixed wing attitude controller.
  */
+#include <fixedwing_att_control_rate.h>
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -53,14 +54,14 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
 
+
+
 struct fw_rate_control_params {
 
 	param_t yawrate_p;
@@ -97,6 +98,9 @@ static int parameters_init(struct fw_rate_control_params *h)
 	h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
 	h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
 
+//	if(h->attrate_i == PARAM_INVALID)
+//		printf("FATAL MC_ATTRATE_I does not exist\n");
+
 	return OK;
 }
 
@@ -114,11 +118,12 @@ static int parameters_update(const struct fw_rate_control_params *h, struct fw_r
 	param_get(h->attrate_awu, &(p->attrate_awu));
 	param_get(h->attrate_lim, &(p->attrate_lim));
 
+	p->attrate_i = 0.01f; //TODO: as long as the parameter is not implemented
+
 	return OK;
 }
 
-
-int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		const float rates[],
 		struct actuator_controls_s *actuators)
 {
@@ -128,23 +133,30 @@ int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	static struct fw_rate_control_params p;
 	static struct fw_rate_control_params h;
 
+	static PID_t roll_rate_controller;
+
+	static uint64_t last_run = 0;
+	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
 	if(!initialized)
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
+		pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, PID_MODE_DERIVATIV_SET); //D part set to 0 because the controller layout is with a PI rate controller
 		initialized = true;
 	}
 
 	/* load new parameters with lower rate */
 	if (counter % 2500 == 0) {
 		/* update parameters from storage */
+		pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
 		parameters_update(&h, &p);
-		printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
 	}
 
-	/* Roll Rate */
-	float roll_error = rate_sp->roll - rates[0];
-	actuators->control[0] =p.attrate_p*roll_error;
+	/* Roll Rate (PI) */
+	float roll_rate_error = rate_sp->roll - rates[0];
+	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);;
 
 
 	actuators->control[1] = 0;
diff --git a/apps/fixedwing_control2/fixedwing_control2_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
similarity index 86%
rename from apps/fixedwing_control2/fixedwing_control2_rate.h
rename to apps/fixedwing_att_control/fixedwing_att_control_rate.h
index 39aa54abe5..2023353ebf 100644
--- a/apps/fixedwing_control2/fixedwing_control2_rate.h
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
@@ -35,11 +35,14 @@
 
 /* @file Main system state machine definition */
 
-#ifndef FIXEDWING_CONTROL2_RATE_H_
-#define FIXEDWING_CONTROL2_RATE_H_
+#ifndef FIXEDWING_ATT_CONTROL_RATE_H_
+#define FIXEDWING_ATT_CONTROL_RATE_H_
 
-int fixedwing_control2_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+
+int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		const float rates[],
 		struct actuator_controls_s *actuators);
 
-#endif /* FIXEDWING_CONTROL2_RATE_H_ */
+#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
diff --git a/apps/fixedwing_pos_control/Makefile b/apps/fixedwing_pos_control/Makefile
new file mode 100644
index 0000000000..bce391f499
--- /dev/null
+++ b/apps/fixedwing_pos_control/Makefile
@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# Fixedwing Control application
+#
+
+APPNAME		 = fixedwing_pos_control
+PRIORITY	 = SCHED_PRIORITY_MAX - 30
+STACKSIZE	 = 2048
+
+INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
+
+include $(APPDIR)/mk/app.mk
+
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
new file mode 100644
index 0000000000..892da5f093
--- /dev/null
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -0,0 +1,208 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Ivan Ovinnikov <oivan@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 fixedwing_pos_control.c
+ * Implementation of a fixed wing attitude controller.
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <arch/board/up_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_setpoint.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 <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
+
+/* Prototypes */
+/**
+ * Deamon management function.
+ */
+__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int fixedwing_pos_control_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+/* Variables */
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
+
+/* Main Thread */
+int fixedwing_pos_control_thread_main(int argc, char *argv[])
+{
+	/* read arguments */
+		bool verbose = false;
+
+		for (int i = 1; i < argc; i++) {
+			if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+				verbose = true;
+			}
+		}
+
+		/* welcome user */
+		printf("[fixedwing att_control] started\n");
+
+		/* declare and safely initialize all structs */
+
+
+		/* output structs */
+		struct vehicle_attitude_setpoint_s attitude_setpoint;
+		memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
+
+		/* publish attitude setpoint */
+
+		attitude_setpoint.roll_body = 0.0f;
+		attitude_setpoint.pitch_body = 0.0f;
+		attitude_setpoint.yaw_body = 0.0f;
+		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
+
+
+
+//		/* subscribe to attitude (for attitude rate) and rate septoint */
+//
+
+		/* Setup of loop */
+//		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+
+		while(!thread_should_exit)
+		{
+			/* wait for a sensor update, check for exit condition every 500 ms */
+//			poll(&fds, 1, 500);
+			sleep(500); //TODO removeme, this is for testing only
+
+			/* Control */
+
+
+			orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+		}
+
+		printf("[fixedwing_pos_control] exiting.\n");
+		thread_running = false;
+
+
+		close(attitude_setpoint_pub);
+
+		fflush(stdout);
+		exit(0);
+
+		return 0;
+
+}
+
+/* Startup Functions */
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int fixedwing_pos_control_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("fixedwing_pos_control already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("fixedwing_pos_control",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 20,
+					 4096,
+					 fixedwing_pos_control_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tfixedwing_pos_control is running\n");
+		} else {
+			printf("\tfixedwing_pos_control not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+
+
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 96a5871310..4fe8f39c16 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -78,7 +78,8 @@ CONFIGURED_APPS += multirotor_att_control
 CONFIGURED_APPS += multirotor_pos_control
 CONFIGURED_APPS += px4/attitude_estimator_bm
 CONFIGURED_APPS += fixedwing_control
-CONFIGURED_APPS += fixedwing_control2
+CONFIGURED_APPS += fixedwing_att_control
+CONFIGURED_APPS += fixedwing_pos_control
 CONFIGURED_APPS += position_estimator
 CONFIGURED_APPS += attitude_estimator_ekf
 CONFIGURED_APPS += px4/ground_estimator

From ab447ac713b010c090d6e2de85fa5d0d0af5cbbe Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 21 Oct 2012 21:36:29 +0200
Subject: [PATCH 07/34] [work in progess]roll attitude and roll rate loop works

---
 .../fixedwing_att_control_att.c               | 131 ++++++++++++++++++
 .../fixedwing_att_control_att.h               |  49 +++++++
 .../fixedwing_att_control_main.c              |  15 +-
 .../fixedwing_att_control_rate.c              |   3 +-
 apps/uORB/topics/vehicle_attitude_setpoint.h  |   6 +-
 5 files changed, 196 insertions(+), 8 deletions(-)
 create mode 100644 apps/fixedwing_att_control/fixedwing_att_control_att.c
 create mode 100644 apps/fixedwing_att_control/fixedwing_att_control_att.h

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
new file mode 100644
index 0000000000..7d648ccfa8
--- /dev/null
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@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 fixedwing_att_control_rate.c
+ * Implementation of a fixed wing attitude controller.
+ */
+#include <fixedwing_att_control_rate.h>
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <arch/board/up_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
+
+
+
+
+struct fw_att_control_params {
+	param_t roll_p;
+};
+
+
+
+/* Internal Prototypes */
+static int parameters_init(struct fw_att_control_params *h);
+static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p);
+
+static int parameters_init(struct fw_att_control_params *h)
+{
+	/* PID parameters */
+	h->roll_p 	=	param_find("FW_ROLL_POS_P");   //TODO define rate params for fixed wing
+
+
+//	if(h->attrate_i == PARAM_INVALID)
+//		printf("FATAL MC_ATTRATE_I does not exist\n");
+
+	return OK;
+}
+
+static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p)
+{
+	param_get(h->roll_p, &(p->roll_p));
+
+	return OK;
+}
+
+int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
+		const struct vehicle_attitude_s *att,
+		struct vehicle_rates_setpoint_s *rates_sp)
+{
+	static int counter = 0;
+	static bool initialized = false;
+
+	static struct fw_att_control_params p;
+	static struct fw_att_control_params h;
+
+	static uint64_t last_run = 0;
+	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
+	if(!initialized)
+	{
+		parameters_init(&h);
+		parameters_update(&h, &p);
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (counter % 2500 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+	}
+
+	/* Roll (P) */
+	float roll_error = att_sp->roll_tait_bryan - att->roll;
+	rates_sp->roll = p.roll_p * roll_error;
+
+	counter++;
+
+	return 0;
+}
+
+
+
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h
new file mode 100644
index 0000000000..f4d3eca7ce
--- /dev/null
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h
@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@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 Main system state machine definition */
+
+#ifndef FIXEDWING_ATT_CONTROL_ATT_H_
+#define FIXEDWING_ATT_CONTROL_ATT_H_
+
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+
+int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
+		const struct vehicle_attitude_s *att,
+		struct vehicle_rates_setpoint_s *rates_sp);
+
+#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 4680147a1d..9bf984d1d8 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -63,6 +63,7 @@
 #include <systemlib/systemlib.h>
 
 #include <fixedwing_att_control_rate.h>
+#include <fixedwing_att_control_att.h>
 
 /* Prototypes */
 /**
@@ -103,6 +104,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		/* declare and safely initialize all structs */
 		struct vehicle_attitude_s att;
 		memset(&att, 0, sizeof(att));
+		struct vehicle_attitude_setpoint_s att_sp;
+		memset(&att_sp, 0, sizeof(att_sp));
 		struct vehicle_rates_setpoint_s rates_sp;
 		memset(&rates_sp, 0, sizeof(rates_sp));
 
@@ -117,8 +120,9 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 
 
 
-		/* subscribe to attitude (for attitude rate) and rate septoint */
+		/* subscribe  */
 		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+		int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 
 		/* Setup of loop */
 		float gyro[3] = {0.0f, 0.0f, 0.0f};
@@ -140,8 +144,13 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			/* Control */
 
 			/* Attitude Control */
-			rates_sp.roll = 0.0f;
-			rates_sp.pitch = 0.0f;
+			att_sp.roll_tait_bryan = 0.0f; //REMOVEME TODO
+			att_sp.pitch_tait_bryan = 0.0f;
+			att_sp.yaw_tait_bryan = 0.0f;
+			fixedwing_att_control_attitude(&att_sp,
+					&att,
+					&rates_sp);
+			rates_sp.pitch = 0.0f; //REMOVEME TODO
 			rates_sp.yaw = 0.0f;
 
 			/* Attitude Rate Control */
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index d00909104c..48892e4aa7 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -155,8 +155,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	}
 
 	/* Roll Rate (PI) */
-	float roll_rate_error = rate_sp->roll - rates[0];
-	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);;
+	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
 
 	actuators->control[1] = 0;
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h
index 62367cf77a..8663846fc9 100644
--- a/apps/uORB/topics/vehicle_attitude_setpoint.h
+++ b/apps/uORB/topics/vehicle_attitude_setpoint.h
@@ -56,9 +56,9 @@ struct vehicle_attitude_setpoint_s
 {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
-	//float roll_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	//float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	//float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float roll_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
 	//float tait_bryan_valid;			/**< Set to true if Tait-Bryan angles are valid */
 
 	float roll_body;				/**< body angle in NED frame		*/

From 69185643c0bb96cae1daa08ceb052e884a2c2ed1 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 22 Oct 2012 18:52:25 +0200
Subject: [PATCH 08/34] added parameters

---
 .../fixedwing_att_control_main.c              | 28 ++++++
 .../fixedwing_att_control_rate.c              | 90 +++++++++++--------
 2 files changed, 82 insertions(+), 36 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 9bf984d1d8..a6dd1c9fbe 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -65,6 +65,34 @@
 #include <fixedwing_att_control_rate.h>
 #include <fixedwing_att_control_att.h>
 
+/*
+ * Controller parameters, accessible via MAVLink
+ *
+ */
+// Roll control parameters
+PARAM_DEFINE_FLOAT(FW_ROLLRATE_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_ROLLRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ROLLRATE_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ROLLRATE_LIM, 0.7f);   // Roll rate limit in radians/sec
+PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
+
+//Pitch control parameters
+PARAM_DEFINE_FLOAT(FW_PITCHRATE_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_PITCHRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PITCHRATE_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PITCHRATE_LIM, 0.35f);   // Pitch rate limit in radians/sec
+PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
+
+//Yaw control parameters					//XXX TODO this is copy paste, asign correct values
+PARAM_DEFINE_FLOAT(FW_YAWRATE_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YAWRATE_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YAWRATE_LIM, 0.35f);   // Yaw rate limit in radians/sec
+PARAM_DEFINE_FLOAT(FW_YAW_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_YAW_LIM, 0.35f);	// Yaw angle limit in radians
+
 /* Prototypes */
 /**
  * Deamon management function.
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 48892e4aa7..e6f5c6857f 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -62,41 +62,60 @@
 
 
 
+
 struct fw_rate_control_params {
+	float rollrate_p;
+	float rollrate_i;
+	float rollrate_awu;
+	float rollrate_lim;
+	float pitchrate_p;
+	float pitchrate_i;
+	float pitchrate_awu;
+	float pitchrate_lim;
+	float yawrate_p;
+	float yawrate_i;
+	float yawrate_awu;
+	float yawrate_lim;
 
-	param_t yawrate_p;
-	param_t yawrate_i;
-	param_t yawrate_d;
-	param_t yawrate_awu;
-	param_t yawrate_lim;
+};
 
-	param_t attrate_p;
-	param_t attrate_i;
-	param_t attrate_d;
-	param_t attrate_awu;
-	param_t attrate_lim;
+struct fw_rate_control_param_handles {
+	float rollrate_p;
+	float rollrate_i;
+	float rollrate_awu;
+	float rollrate_lim;
+	float pitchrate_p;
+	float pitchrate_i;
+	float pitchrate_awu;
+	float pitchrate_lim;
+	float yawrate_p;
+	float yawrate_i;
+	float yawrate_awu;
+	float yawrate_lim;
 };
 
 
 
 /* Internal Prototypes */
-static int parameters_init(struct fw_rate_control_params *h);
-static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p);
+static int parameters_init(struct fw_rate_control_param_handles *h);
+static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p);
 
-static int parameters_init(struct fw_rate_control_params *h)
+static int parameters_init(struct fw_rate_control_param_handles *h)
 {
 	/* PID parameters */
-	h->yawrate_p 	=	param_find("MC_YAWRATE_P");   //TODO define rate params for fixed wing
-	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
-	h->yawrate_d 	=	param_find("MC_YAWRATE_D");
-	h->yawrate_awu 	=	param_find("MC_YAWRATE_AWU");
-	h->yawrate_lim 	=	param_find("MC_YAWRATE_LIM");
+	h->rollrate_p 	=	param_find("FW_ROLLRATE_P");   //TODO define rate params for fixed wing
+	h->rollrate_i 	=	param_find("FW_ROLLRATE_I");
+	h->rollrate_awu =	param_find("FW_ROLLRATE_AWU");
+	h->rollrate_lim =	param_find("FW_ROLLRATE_LIM");
+	h->pitchrate_p 	=	param_find("FW_PITCHRATE_P");
+	h->pitchrate_i 	=	param_find("FW_PITCHRATE_I");
+	h->pitchrate_awu =	param_find("FW_PITCHRATE_AWU");
+	h->pitchrate_lim =	param_find("FW_PITCHRATE_LIM");
+	h->yawrate_p 	=	param_find("FW_YAWRATE_P");
+	h->yawrate_i 	=	param_find("FW_YAWRATE_I");
+	h->yawrate_awu =	param_find("FW_YAWRATE_AWU");
+	h->yawrate_lim =	param_find("FW_YAWRATE_LIM");
 
-	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
-	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
-	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
-	h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
-	h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
 
 //	if(h->attrate_i == PARAM_INVALID)
 //		printf("FATAL MC_ATTRATE_I does not exist\n");
@@ -104,22 +123,21 @@ static int parameters_init(struct fw_rate_control_params *h)
 	return OK;
 }
 
-static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p)
+static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p)
 {
+	param_get(h->rollrate_p, &(p->rollrate_p));
+	param_get(h->rollrate_i, &(p->rollrate_i));
+	param_get(h->rollrate_awu, &(p->rollrate_awu));
+	param_get(h->rollrate_lim, &(p->rollrate_lim));
+	param_get(h->pitchrate_p, &(p->pitchrate_p));
+	param_get(h->pitchrate_i, &(p->pitchrate_i));
+	param_get(h->pitchrate_awu, &(p->pitchrate_awu));
+	param_get(h->pitchrate_lim, &(p->pitchrate_lim));
 	param_get(h->yawrate_p, &(p->yawrate_p));
 	param_get(h->yawrate_i, &(p->yawrate_i));
-	param_get(h->yawrate_d, &(p->yawrate_d));
 	param_get(h->yawrate_awu, &(p->yawrate_awu));
 	param_get(h->yawrate_lim, &(p->yawrate_lim));
 
-	param_get(h->attrate_p, &(p->attrate_p));
-	param_get(h->attrate_i, &(p->attrate_i));
-	param_get(h->attrate_d, &(p->attrate_d));
-	param_get(h->attrate_awu, &(p->attrate_awu));
-	param_get(h->attrate_lim, &(p->attrate_lim));
-
-	p->attrate_i = 0.01f; //TODO: as long as the parameter is not implemented
-
 	return OK;
 }
 
@@ -131,7 +149,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	static bool initialized = false;
 
 	static struct fw_rate_control_params p;
-	static struct fw_rate_control_params h;
+	static struct fw_rate_control_param_handles h;
 
 	static PID_t roll_rate_controller;
 
@@ -143,14 +161,14 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
-		pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, PID_MODE_DERIVATIV_SET); //D part set to 0 because the controller layout is with a PI rate controller
+		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the controller layout is with a PI rate controller
 		initialized = true;
 	}
 
 	/* load new parameters with lower rate */
 	if (counter % 2500 == 0) {
 		/* update parameters from storage */
-		pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
+		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
 		parameters_update(&h, &p);
 	}
 

From b9d03c7c27425dc100dbe3433d9233f98c7fbf30 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 22 Oct 2012 19:12:27 +0200
Subject: [PATCH 09/34] [work in progess] some copy paste for pitch and yaw,
 but not enabled yet

---
 .../fixedwing_att_control_att.c               | 52 +++++++++++++------
 .../fixedwing_att_control_main.c              |  2 -
 .../fixedwing_att_control_rate.c              | 12 +++--
 .../fixedwing_pos_control_main.c              |  2 +-
 4 files changed, 45 insertions(+), 23 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 7d648ccfa8..b13d564d62 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -35,7 +35,7 @@
  * @file fixedwing_att_control_rate.c
  * Implementation of a fixed wing attitude controller.
  */
-#include <fixedwing_att_control_rate.h>
+#include <fixedwing_att_control_att.h>
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -63,30 +63,42 @@
 
 
 struct fw_att_control_params {
-	param_t roll_p;
+	float roll_p;
+	float roll_lim;
+	float pitch_p;
+	float pitch_lim;
+};
+
+struct fw_att_control_params_handles {
+	float roll_p;
+	float roll_lim;
+	float pitch_p;
+	float pitch_lim;
 };
 
 
 
 /* Internal Prototypes */
-static int parameters_init(struct fw_att_control_params *h);
-static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p);
+static int parameters_init(struct fw_att_control_params_handles *h);
+static int parameters_update(const struct fw_att_control_params_handles *h, struct fw_att_control_params *p);
 
-static int parameters_init(struct fw_att_control_params *h)
+static int parameters_init(struct fw_att_control_params_handles *h)
 {
 	/* PID parameters */
-	h->roll_p 	=	param_find("FW_ROLL_POS_P");   //TODO define rate params for fixed wing
-
-
-//	if(h->attrate_i == PARAM_INVALID)
-//		printf("FATAL MC_ATTRATE_I does not exist\n");
+	h->roll_p 		=	param_find("FW_ROLL_P");
+	h->roll_lim 	=	param_find("FW_ROLL_LIM");
+	h->pitch_p 		=	param_find("FW_PITCH_P");
+	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
 
 	return OK;
 }
 
-static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p)
+static int parameters_update(const struct fw_att_control_params_handles *h, struct fw_att_control_params *p)
 {
 	param_get(h->roll_p, &(p->roll_p));
+	param_get(h->roll_lim, &(p->roll_lim));
+	param_get(h->pitch_p, &(p->pitch_p));
+	param_get(h->pitch_lim, &(p->pitch_lim));
 
 	return OK;
 }
@@ -99,11 +111,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	static bool initialized = false;
 
 	static struct fw_att_control_params p;
-	static struct fw_att_control_params h;
-
-	static uint64_t last_run = 0;
-	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-	last_run = hrt_absolute_time();
+	static struct fw_att_control_params_handles h;
 
 	if(!initialized)
 	{
@@ -120,7 +128,17 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 
 	/* Roll (P) */
 	float roll_error = att_sp->roll_tait_bryan - att->roll;
-	rates_sp->roll = p.roll_p * roll_error;
+	//TODO convert to body frame
+	rates_sp->roll = p.roll_p * roll_error; //TODO enabled for testing only
+
+	/* Pitch (P) */
+	float pitch_error = att_sp->pitch_tait_bryan - att->pitch;
+	//TODO convert to body frame
+
+	/* Yaw (from coordinated turn constraint) */
+	//TODO
+
+	//TODO Limits
 
 	counter++;
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index a6dd1c9fbe..0766a3d40f 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -90,8 +90,6 @@ PARAM_DEFINE_FLOAT(FW_YAWRATE_P, 0.3f);
 PARAM_DEFINE_FLOAT(FW_YAWRATE_I, 0.0f);
 PARAM_DEFINE_FLOAT(FW_YAWRATE_AWU, 0.0f);
 PARAM_DEFINE_FLOAT(FW_YAWRATE_LIM, 0.35f);   // Yaw rate limit in radians/sec
-PARAM_DEFINE_FLOAT(FW_YAW_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_YAW_LIM, 0.35f);	// Yaw angle limit in radians
 
 /* Prototypes */
 /**
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index e6f5c6857f..959628be95 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -152,6 +152,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	static struct fw_rate_control_param_handles h;
 
 	static PID_t roll_rate_controller;
+	static PID_t pitch_rate_controller;
+	static PID_t yaw_rate_controller;
 
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@@ -162,6 +164,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		parameters_init(&h);
 		parameters_update(&h, &p);
 		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the controller layout is with a PI rate controller
+		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
 		initialized = true;
 	}
 
@@ -169,15 +173,17 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	if (counter % 2500 == 0) {
 		/* update parameters from storage */
 		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
+		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);
+		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim);
 		parameters_update(&h, &p);
 	}
 
 	/* Roll Rate (PI) */
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
-
-	actuators->control[1] = 0;
-	actuators->control[2] = 0;
+	//XXX TODO disabled for now
+	actuators->control[1] = 0;//pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
+	actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT);
 
 	counter++;
 
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 892da5f093..278931e4a3 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -112,7 +112,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 
 
-//		/* subscribe to attitude (for attitude rate) and rate septoint */
+//		/* subscribe */
 //
 
 		/* Setup of loop */

From abcfe29c640315848f5080f57ec4c7117dc3f988 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 27 Oct 2012 17:16:10 +0200
Subject: [PATCH 10/34] small temporary bugfix/workaround in mavlink uorb
 listener

---
 apps/mavlink/orb_listener.c | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 90b0073cfc..8a604d6c13 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -474,7 +474,6 @@ l_vehicle_attitude_controls(struct listener *l)
 
 	/* Only send in HIL mode */
 	if (mavlink_hil_enabled) {
-
 		/* translate the current syste state to mavlink state and mode */
 		uint8_t mavlink_state = 0;
 		uint8_t mavlink_mode = 0;
@@ -548,8 +547,12 @@ uorb_receive_thread(void *arg)
 			mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
 		} else {
 
+			static bool updated = false;
 			for (unsigned i = 0; i < n_listeners; i++) {
-				if (fds[i].revents & POLLIN)
+				orb_check(*(listeners[i].subp), &updated);
+//					printf("revents: %d:%d", i, fds[i].revents);
+//				if (fds[i].revents & POLLIN)
+				if(updated)
 					listeners[i].callback(&listeners[i]);
 			}
 		}

From 56f4849e872854e5483bcd1eaf277b9b8bb50a1c Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 27 Oct 2012 18:56:45 +0200
Subject: [PATCH 11/34] changed headers

---
 apps/fixedwing_att_control/fixedwing_att_control_att.c  | 2 +-
 apps/fixedwing_att_control/fixedwing_att_control_main.c | 3 ++-
 apps/fixedwing_att_control/fixedwing_att_control_rate.c | 3 ++-
 apps/fixedwing_pos_control/fixedwing_pos_control_main.c | 2 +-
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index b13d564d62..9c784e98ed 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -47,7 +47,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 0766a3d40f..06890ed8b5 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -46,7 +46,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -194,6 +194,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		/* kill all outputs */
 		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
 			actuators.control[i] = 0.0f;
+
 		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 959628be95..7c17e70f31 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -47,7 +47,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 
@@ -178,6 +178,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		parameters_update(&h, &p);
 	}
 
+
 	/* Roll Rate (PI) */
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 278931e4a3..63ea1e5b4b 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -46,7 +46,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_global_position.h>

From 17772afdaabd446ba5b7ddccca1f8d4fed433d39 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 27 Oct 2012 19:43:03 +0200
Subject: [PATCH 12/34] fw control: fixed parameter reloading, disabled old fw
 control app

---
 apps/fixedwing_att_control/fixedwing_att_control_att.c  | 2 +-
 apps/fixedwing_att_control/fixedwing_att_control_rate.c | 2 +-
 nuttx/configs/px4fmu/nsh/appconfig                      | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 9c784e98ed..c691c69388 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -121,7 +121,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	}
 
 	/* load new parameters with lower rate */
-	if (counter % 2500 == 0) {
+	if (counter % 100 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 	}
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 7c17e70f31..24dce199f8 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -170,7 +170,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	}
 
 	/* load new parameters with lower rate */
-	if (counter % 2500 == 0) {
+	if (counter % 100 == 0) {
 		/* update parameters from storage */
 		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
 		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 1b55746814..46df8a45df 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -76,7 +76,7 @@ CONFIGURED_APPS += sensors
 CONFIGURED_APPS += ardrone_interface
 CONFIGURED_APPS += multirotor_att_control
 CONFIGURED_APPS += multirotor_pos_control
-CONFIGURED_APPS += fixedwing_control
+#CONFIGURED_APPS += fixedwing_control
 CONFIGURED_APPS += fixedwing_att_control
 CONFIGURED_APPS += fixedwing_pos_control
 CONFIGURED_APPS += position_estimator

From 62581fe55b0fb138f88bd0dcd89dffdbf99496ef Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 28 Oct 2012 11:54:02 +0100
Subject: [PATCH 13/34] fw control: attitude, added pid elements

---
 .../fixedwing_att_control_att.c                | 18 ++++++++++--------
 .../fixedwing_att_control_rate.c               | 12 ++++--------
 .../fixedwing_pos_control_main.c               |  6 +++---
 apps/mavlink/orb_listener.c                    |  7 ++-----
 4 files changed, 19 insertions(+), 24 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index c691c69388..711a1cc313 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -113,10 +113,15 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	static struct fw_att_control_params p;
 	static struct fw_att_control_params_handles h;
 
+	static PID_t roll_controller;
+	static PID_t pitch_controller;
+
 	if(!initialized)
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
+		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim, PID_MODE_DERIVATIV_NONE); //P Controller
+		pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim, PID_MODE_DERIVATIV_NONE); //P Controller
 		initialized = true;
 	}
 
@@ -124,22 +129,19 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	if (counter % 100 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
+		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim);
+		pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim);
 	}
 
 	/* Roll (P) */
-	float roll_error = att_sp->roll_tait_bryan - att->roll;
-	//TODO convert to body frame
-	rates_sp->roll = p.roll_p * roll_error; //TODO enabled for testing only
+	rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0);
 
 	/* Pitch (P) */
-	float pitch_error = att_sp->pitch_tait_bryan - att->pitch;
-	//TODO convert to body frame
+	//rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0);
 
-	/* Yaw (from coordinated turn constraint) */
+	/* Yaw (from coordinated turn constraint or lateral force) */
 	//TODO
 
-	//TODO Limits
-
 	counter++;
 
 	return 0;
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 24dce199f8..4b7e2c2bae 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -116,10 +116,6 @@ static int parameters_init(struct fw_rate_control_param_handles *h)
 	h->yawrate_awu =	param_find("FW_YAWRATE_AWU");
 	h->yawrate_lim =	param_find("FW_YAWRATE_LIM");
 
-
-//	if(h->attrate_i == PARAM_INVALID)
-//		printf("FATAL MC_ATTRATE_I does not exist\n");
-
 	return OK;
 }
 
@@ -163,19 +159,19 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
-		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the controller layout is with a PI rate controller
-		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
+		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
 		initialized = true;
 	}
 
 	/* load new parameters with lower rate */
 	if (counter % 100 == 0) {
 		/* update parameters from storage */
+		parameters_update(&h, &p);
 		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
 		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);
 		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim);
-		parameters_update(&h, &p);
 	}
 
 
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 63ea1e5b4b..c08017b8de 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -105,9 +105,9 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 		/* publish attitude setpoint */
 
-		attitude_setpoint.roll_body = 0.0f;
-		attitude_setpoint.pitch_body = 0.0f;
-		attitude_setpoint.yaw_body = 0.0f;
+		attitude_setpoint.roll_tait_bryan = 0.0f;
+		attitude_setpoint.pitch_tait_bryan = 0.0f;
+		attitude_setpoint.yaw_tait_bryan = 0.0f;
 		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
 
 
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 8a604d6c13..d8b9dc3db8 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -547,12 +547,9 @@ uorb_receive_thread(void *arg)
 			mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
 		} else {
 
-			static bool updated = false;
 			for (unsigned i = 0; i < n_listeners; i++) {
-				orb_check(*(listeners[i].subp), &updated);
-//					printf("revents: %d:%d", i, fds[i].revents);
-//				if (fds[i].revents & POLLIN)
-				if(updated)
+				bool updated = false;
+				if(OK == orb_check(*(listeners[i].subp), &updated) && updated)
 					listeners[i].callback(&listeners[i]);
 			}
 		}

From e5f56a1a8fe3c81fcb182cace9e81bbaaa3d0031 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 28 Oct 2012 15:26:49 +0100
Subject: [PATCH 14/34] fw control: moved and renamed parameters, attitude:
 roll and pitch working

---
 .../fixedwing_att_control_att.c               | 41 ++++++----
 .../fixedwing_att_control_main.c              | 45 ++++++-----
 .../fixedwing_att_control_rate.c              | 48 +++++-------
 .../fixedwing_pos_control_main.c              | 76 ++++++++++++++++++-
 4 files changed, 142 insertions(+), 68 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 711a1cc313..b6196702f3 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -64,41 +64,48 @@
 
 struct fw_att_control_params {
 	float roll_p;
-	float roll_lim;
+	float rollrate_lim;
 	float pitch_p;
 	float pitch_lim;
+	float pitchrate_lim;
+	float yawrate_lim;
 };
 
-struct fw_att_control_params_handles {
+struct fw_pos_control_params_handle {
 	float roll_p;
-	float roll_lim;
+	float rollrate_lim;
 	float pitch_p;
 	float pitch_lim;
+	float pitchrate_lim;
+	float yawrate_lim;
 };
 
 
 
 /* Internal Prototypes */
-static int parameters_init(struct fw_att_control_params_handles *h);
-static int parameters_update(const struct fw_att_control_params_handles *h, struct fw_att_control_params *p);
+static int parameters_init(struct fw_pos_control_params_handle *h);
+static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p);
 
-static int parameters_init(struct fw_att_control_params_handles *h)
+static int parameters_init(struct fw_pos_control_params_handle *h)
 {
 	/* PID parameters */
 	h->roll_p 		=	param_find("FW_ROLL_P");
-	h->roll_lim 	=	param_find("FW_ROLL_LIM");
+	h->rollrate_lim =	param_find("FW_ROLLR_LIM");
 	h->pitch_p 		=	param_find("FW_PITCH_P");
 	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
+	h->pitchrate_lim =	param_find("FW_PITCHR_LIM");
+	h->yawrate_lim =	param_find("FW_YAWR_LIM");
 
 	return OK;
 }
 
-static int parameters_update(const struct fw_att_control_params_handles *h, struct fw_att_control_params *p)
+static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p)
 {
 	param_get(h->roll_p, &(p->roll_p));
-	param_get(h->roll_lim, &(p->roll_lim));
+	param_get(h->rollrate_lim, &(p->rollrate_lim));
 	param_get(h->pitch_p, &(p->pitch_p));
-	param_get(h->pitch_lim, &(p->pitch_lim));
+	param_get(h->pitchrate_lim, &(p->pitchrate_lim));
+	param_get(h->yawrate_lim, &(p->yawrate_lim));
 
 	return OK;
 }
@@ -111,17 +118,18 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	static bool initialized = false;
 
 	static struct fw_att_control_params p;
-	static struct fw_att_control_params_handles h;
+	static struct fw_pos_control_params_handle h;
 
 	static PID_t roll_controller;
 	static PID_t pitch_controller;
 
+
 	if(!initialized)
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
-		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim, PID_MODE_DERIVATIV_NONE); //P Controller
-		pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim, PID_MODE_DERIVATIV_NONE); //P Controller
+		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller
+		pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller
 		initialized = true;
 	}
 
@@ -129,15 +137,16 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	if (counter % 100 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim);
-		pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim);
+		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.pitchrate_lim);
+		pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim);
 	}
 
 	/* Roll (P) */
 	rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0);
 
 	/* Pitch (P) */
-	//rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0);
+
+	rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
 	//TODO
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 06890ed8b5..82ef0403be 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -1,7 +1,8 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Ivan Ovinnikov <oivan@ethz.ch>
+ *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *   			@author Doug Weibel <douglas.weibel@colorado.edu>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -57,6 +58,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/debug_key_value.h>
 #include <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/geo/geo.h>
@@ -70,26 +72,24 @@
  *
  */
 // Roll control parameters
-PARAM_DEFINE_FLOAT(FW_ROLLRATE_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_ROLLRATE_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_ROLLRATE_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_ROLLRATE_LIM, 0.7f);   // Roll rate limit in radians/sec
+PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
 PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
 
 //Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHRATE_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_PITCHRATE_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_PITCHRATE_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_PITCHRATE_LIM, 0.35f);   // Pitch rate limit in radians/sec
+PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
 PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
 
 //Yaw control parameters					//XXX TODO this is copy paste, asign correct values
-PARAM_DEFINE_FLOAT(FW_YAWRATE_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_YAWRATE_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWRATE_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWRATE_LIM, 0.35f);   // Yaw rate limit in radians/sec
+PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f);   // Yaw rate limit in radians/sec
 
 /* Prototypes */
 /**
@@ -134,16 +134,20 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		memset(&att_sp, 0, sizeof(att_sp));
 		struct vehicle_rates_setpoint_s rates_sp;
 		memset(&rates_sp, 0, sizeof(rates_sp));
+//		static struct debug_key_value_s debug_output;
+//		memset(&debug_output, 0, sizeof(debug_output));
 
 		/* output structs */
 		struct actuator_controls_s actuators;
 		memset(&actuators, 0, sizeof(actuators));
 
+
 		/* publish actuator controls */
 		for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
 			actuators.control[i] = 0.0f;
 		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-
+//		orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
+//		debug_output.key[0] = '1';
 
 
 		/* subscribe  */
@@ -162,6 +166,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			/*Get Local Copies */
 			/* get a local copy of attitude */
 			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
 
 			gyro[0] = att.rollspeed;
 			gyro[1] = att.pitchspeed;
@@ -170,14 +175,9 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			/* Control */
 
 			/* Attitude Control */
-			att_sp.roll_tait_bryan = 0.0f; //REMOVEME TODO
-			att_sp.pitch_tait_bryan = 0.0f;
-			att_sp.yaw_tait_bryan = 0.0f;
 			fixedwing_att_control_attitude(&att_sp,
 					&att,
 					&rates_sp);
-			rates_sp.pitch = 0.0f; //REMOVEME TODO
-			rates_sp.yaw = 0.0f;
 
 			/* Attitude Rate Control */
 			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
@@ -186,6 +186,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			actuators.control[3] = 0.7f;
 
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+//			debug_output.value = rates_sp.pitch;
+//			orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
 		}
 
 		printf("[fixedwing_att_control] exiting, stopping all motors.\n");
@@ -198,6 +200,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
 
+
 		close(att_sub);
 		close(actuator_pub);
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 4b7e2c2bae..ec3039dd60 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -67,15 +67,12 @@ struct fw_rate_control_params {
 	float rollrate_p;
 	float rollrate_i;
 	float rollrate_awu;
-	float rollrate_lim;
 	float pitchrate_p;
 	float pitchrate_i;
 	float pitchrate_awu;
-	float pitchrate_lim;
 	float yawrate_p;
 	float yawrate_i;
 	float yawrate_awu;
-	float yawrate_lim;
 
 };
 
@@ -83,15 +80,13 @@ struct fw_rate_control_param_handles {
 	float rollrate_p;
 	float rollrate_i;
 	float rollrate_awu;
-	float rollrate_lim;
 	float pitchrate_p;
 	float pitchrate_i;
 	float pitchrate_awu;
-	float pitchrate_lim;
 	float yawrate_p;
 	float yawrate_i;
 	float yawrate_awu;
-	float yawrate_lim;
+
 };
 
 
@@ -103,18 +98,17 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru
 static int parameters_init(struct fw_rate_control_param_handles *h)
 {
 	/* PID parameters */
-	h->rollrate_p 	=	param_find("FW_ROLLRATE_P");   //TODO define rate params for fixed wing
-	h->rollrate_i 	=	param_find("FW_ROLLRATE_I");
-	h->rollrate_awu =	param_find("FW_ROLLRATE_AWU");
-	h->rollrate_lim =	param_find("FW_ROLLRATE_LIM");
-	h->pitchrate_p 	=	param_find("FW_PITCHRATE_P");
-	h->pitchrate_i 	=	param_find("FW_PITCHRATE_I");
-	h->pitchrate_awu =	param_find("FW_PITCHRATE_AWU");
-	h->pitchrate_lim =	param_find("FW_PITCHRATE_LIM");
-	h->yawrate_p 	=	param_find("FW_YAWRATE_P");
-	h->yawrate_i 	=	param_find("FW_YAWRATE_I");
-	h->yawrate_awu =	param_find("FW_YAWRATE_AWU");
-	h->yawrate_lim =	param_find("FW_YAWRATE_LIM");
+	h->rollrate_p 	=	param_find("FW_ROLLR_P");   //TODO define rate params for fixed wing
+	h->rollrate_i 	=	param_find("FW_ROLLR_I");
+	h->rollrate_awu =	param_find("FW_ROLLR_AWU");
+
+	h->pitchrate_p 	=	param_find("FW_PITCHR_P");
+	h->pitchrate_i 	=	param_find("FW_PITCHR_I");
+	h->pitchrate_awu =	param_find("FW_PITCHR_AWU");
+
+	h->yawrate_p 	=	param_find("FW_YAWR_P");
+	h->yawrate_i 	=	param_find("FW_YAWR_I");
+	h->yawrate_awu =	param_find("FW_YAWR_AWU");
 
 	return OK;
 }
@@ -124,15 +118,13 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru
 	param_get(h->rollrate_p, &(p->rollrate_p));
 	param_get(h->rollrate_i, &(p->rollrate_i));
 	param_get(h->rollrate_awu, &(p->rollrate_awu));
-	param_get(h->rollrate_lim, &(p->rollrate_lim));
 	param_get(h->pitchrate_p, &(p->pitchrate_p));
 	param_get(h->pitchrate_i, &(p->pitchrate_i));
 	param_get(h->pitchrate_awu, &(p->pitchrate_awu));
-	param_get(h->pitchrate_lim, &(p->pitchrate_lim));
 	param_get(h->yawrate_p, &(p->yawrate_p));
 	param_get(h->yawrate_i, &(p->yawrate_i));
 	param_get(h->yawrate_awu, &(p->yawrate_awu));
-	param_get(h->yawrate_lim, &(p->yawrate_lim));
+
 
 	return OK;
 }
@@ -159,9 +151,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
-		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
-		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
+		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
 		initialized = true;
 	}
 
@@ -169,9 +161,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	if (counter % 100 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
-		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);
-		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim);
+		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1);
+		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1);
+		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1);
 	}
 
 
@@ -179,7 +171,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
 	//XXX TODO disabled for now
-	actuators->control[1] = 0;//pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
+	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
 	actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT);
 
 	counter++;
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index c08017b8de..9efe9cb340 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -1,7 +1,8 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Ivan Ovinnikov <oivan@ethz.ch>
+ *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *   			@author Doug Weibel <douglas.weibel@colorado.edu>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -60,7 +61,29 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
+/*
+ * Controller parameters, accessible via MAVLink
+ *
+ */
+PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
+PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
+
+struct fw_pos_control_params {
+	float roll_lim;
+	float pitch_lim;
+};
+
+struct fw_pos_control_param_handles {
+	float roll_lim;
+	float pitch_lim;
+};
+
+
 /* Prototypes */
+/* Internal Prototypes */
+static int parameters_init(struct fw_pos_control_param_handles *h);
+static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
+
 /**
  * Deamon management function.
  */
@@ -81,6 +104,29 @@ static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
 
+
+/**
+ * Parameter management
+ */
+static int parameters_init(struct fw_pos_control_param_handles *h)
+{
+	/* PID parameters */
+	h->roll_lim 	=	param_find("FW_ROLL_LIM");
+	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
+
+
+	return OK;
+}
+
+static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
+{
+	param_get(h->roll_lim, &(p->roll_lim));
+	param_get(h->pitch_lim, &(p->pitch_lim));
+
+	return OK;
+}
+
+
 /* Main Thread */
 int fixedwing_pos_control_thread_main(int argc, char *argv[])
 {
@@ -106,7 +152,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		/* publish attitude setpoint */
 
 		attitude_setpoint.roll_tait_bryan = 0.0f;
-		attitude_setpoint.pitch_tait_bryan = 0.0f;
+		attitude_setpoint.pitch_tait_bryan = 0.2f; //TODO: for testing
 		attitude_setpoint.yaw_tait_bryan = 0.0f;
 		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
 
@@ -124,10 +170,34 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 //			poll(&fds, 1, 500);
 			sleep(500); //TODO removeme, this is for testing only
 
-			/* Control */
+
+			static int counter = 0;
+			static bool initialized = false;
+
+			static struct fw_pos_control_params p;
+			static struct fw_pos_control_param_handles h;
+
+			if(!initialized)
+				{
+					parameters_init(&h);
+					parameters_update(&h, &p);
+					initialized = true;
+				}
+
+				/* load new parameters with lower rate */
+				if (counter % 100 == 0) {
+					/* update parameters from storage */
+					parameters_update(&h, &p);
+
+				}
+
+				/* Control */
+				//TODO: control here
 
 
 			orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+
+			counter++;
 		}
 
 		printf("[fixedwing_pos_control] exiting.\n");

From 2f4cb6ca84d3c2fa5142fba303079030d22c67ae Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 28 Oct 2012 16:14:06 +0100
Subject: [PATCH 15/34] reverting my workaround in mavlink orb_listener so that
 the fix of Lorenz is active

---
 apps/mavlink/orb_listener.c | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 1eb621d09b..08bf091cb0 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -549,8 +549,7 @@ uorb_receive_thread(void *arg)
 		} else {
 
 			for (unsigned i = 0; i < n_listeners; i++) {
-				bool updated = false;
-				if(OK == orb_check(*(listeners[i].subp), &updated) && updated)
+				if (fds[i].revents & POLLIN)
 					listeners[i].callback(&listeners[i]);
 			}
 		}

From 8fff4e19d6185ef91a92d36d649584161ef69d8a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 28 Oct 2012 16:15:51 +0100
Subject: [PATCH 16/34] roll compensation and default paramter values, pitch
 value has a sign error

---
 .../fixedwing_att_control_att.c                 | 10 +++++++---
 .../fixedwing_att_control_main.c                | 17 +++++++++--------
 2 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index b6196702f3..4193bbfdf5 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -69,6 +69,7 @@ struct fw_att_control_params {
 	float pitch_lim;
 	float pitchrate_lim;
 	float yawrate_lim;
+	float pitch_roll_compensation_p;
 };
 
 struct fw_pos_control_params_handle {
@@ -78,6 +79,7 @@ struct fw_pos_control_params_handle {
 	float pitch_lim;
 	float pitchrate_lim;
 	float yawrate_lim;
+	float pitch_roll_compensation_p;
 };
 
 
@@ -95,6 +97,7 @@ static int parameters_init(struct fw_pos_control_params_handle *h)
 	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
 	h->pitchrate_lim =	param_find("FW_PITCHR_LIM");
 	h->yawrate_lim =	param_find("FW_YAWR_LIM");
+	h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
 
 	return OK;
 }
@@ -106,6 +109,7 @@ static int parameters_update(const struct fw_pos_control_params_handle *h, struc
 	param_get(h->pitch_p, &(p->pitch_p));
 	param_get(h->pitchrate_lim, &(p->pitchrate_lim));
 	param_get(h->yawrate_lim, &(p->yawrate_lim));
+	param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p));
 
 	return OK;
 }
@@ -142,11 +146,11 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	}
 
 	/* Roll (P) */
-	rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0);
+	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0);
 
 	/* Pitch (P) */
-
-	rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0);
+	float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan;
+	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_tait_bryan, att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
 	//TODO
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 82ef0403be..869fb16e44 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -72,18 +72,19 @@
  *
  */
 // Roll control parameters
-PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
 PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
-PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f);
+PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
 
 //Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_P, -0.8f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
 PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
-PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
 
 //Yaw control parameters					//XXX TODO this is copy paste, asign correct values
 PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);

From 69e938aac3183780b1afcc3715f232c8e092994a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 28 Oct 2012 16:56:05 +0100
Subject: [PATCH 17/34] moved elevator (-1) multipliction, ultimately this has
 to go into the mixer

---
 apps/fixedwing_att_control/fixedwing_att_control_main.c | 2 +-
 apps/fixedwing_att_control/fixedwing_att_control_rate.c | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 869fb16e44..d4fc0afae3 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f);
 PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
 
 //Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHR_P, -0.8f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
 PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
 PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
 PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index ec3039dd60..21b3eeb4e2 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -170,9 +170,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	/* Roll Rate (PI) */
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
-	//XXX TODO disabled for now
-	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
-	actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT);
+
+	actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
+	actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); 	//XXX TODO disabled for now
 
 	counter++;
 

From b692c300d01bf075884a00cc75cea15e06f0e0db Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 28 Oct 2012 18:35:08 +0100
Subject: [PATCH 18/34] fw control: added Dougs horizontal navigation
 controller

---
 .../fixedwing_att_control_att.c               | 26 ++---
 .../fixedwing_att_control_main.c              |  2 +-
 .../fixedwing_att_control_rate.c              | 18 ++--
 .../fixedwing_pos_control_main.c              | 94 ++++++++++++++-----
 4 files changed, 92 insertions(+), 48 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 4193bbfdf5..29e9ee1bc3 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -72,23 +72,23 @@ struct fw_att_control_params {
 	float pitch_roll_compensation_p;
 };
 
-struct fw_pos_control_params_handle {
-	float roll_p;
-	float rollrate_lim;
-	float pitch_p;
-	float pitch_lim;
-	float pitchrate_lim;
-	float yawrate_lim;
-	float pitch_roll_compensation_p;
+struct fw_pos_control_param_handles {
+	param_t roll_p;
+	param_t rollrate_lim;
+	param_t pitch_p;
+	param_t pitch_lim;
+	param_t pitchrate_lim;
+	param_t yawrate_lim;
+	param_t pitch_roll_compensation_p;
 };
 
 
 
 /* Internal Prototypes */
-static int parameters_init(struct fw_pos_control_params_handle *h);
-static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p);
+static int parameters_init(struct fw_pos_control_param_handles *h);
+static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p);
 
-static int parameters_init(struct fw_pos_control_params_handle *h)
+static int parameters_init(struct fw_pos_control_param_handles *h)
 {
 	/* PID parameters */
 	h->roll_p 		=	param_find("FW_ROLL_P");
@@ -102,7 +102,7 @@ static int parameters_init(struct fw_pos_control_params_handle *h)
 	return OK;
 }
 
-static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p)
+static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p)
 {
 	param_get(h->roll_p, &(p->roll_p));
 	param_get(h->rollrate_lim, &(p->rollrate_lim));
@@ -122,7 +122,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	static bool initialized = false;
 
 	static struct fw_att_control_params p;
-	static struct fw_pos_control_params_handle h;
+	static struct fw_pos_control_param_handles h;
 
 	static PID_t roll_controller;
 	static PID_t pitch_controller;
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index d4fc0afae3..ad0f201e1b 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
 PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
 PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
 PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
-PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f);
+PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
 PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
 
 //Pitch control parameters
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 21b3eeb4e2..567f037845 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -77,15 +77,15 @@ struct fw_rate_control_params {
 };
 
 struct fw_rate_control_param_handles {
-	float rollrate_p;
-	float rollrate_i;
-	float rollrate_awu;
-	float pitchrate_p;
-	float pitchrate_i;
-	float pitchrate_awu;
-	float yawrate_p;
-	float yawrate_i;
-	float yawrate_awu;
+	param_t rollrate_p;
+	param_t rollrate_i;
+	param_t rollrate_awu;
+	param_t pitchrate_p;
+	param_t pitchrate_i;
+	param_t pitchrate_awu;
+	param_t yawrate_p;
+	param_t yawrate_i;
+	param_t yawrate_awu;
 
 };
 
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 9efe9cb340..5cab8eea78 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -56,6 +56,7 @@
 #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 <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/geo/geo.h>
@@ -65,17 +66,21 @@
  * Controller parameters, accessible via MAVLink
  *
  */
+PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
 PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
 PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
 
 struct fw_pos_control_params {
+	float heading_p;
 	float roll_lim;
 	float pitch_lim;
 };
 
 struct fw_pos_control_param_handles {
-	float roll_lim;
-	float pitch_lim;
+	param_t heading_p;
+	param_t roll_lim;
+	param_t pitch_lim;
+
 };
 
 
@@ -111,6 +116,7 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 static int parameters_init(struct fw_pos_control_param_handles *h)
 {
 	/* PID parameters */
+	h->heading_p 	=	param_find("FW_HEADING_P");
 	h->roll_lim 	=	param_find("FW_ROLL_LIM");
 	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
 
@@ -120,6 +126,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
 
 static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
 {
+	param_get(h->heading_p, &(p->heading_p));
 	param_get(h->roll_lim, &(p->roll_lim));
 	param_get(h->pitch_lim, &(p->pitch_lim));
 
@@ -143,33 +150,35 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		printf("[fixedwing att_control] started\n");
 
 		/* declare and safely initialize all structs */
-
+		struct vehicle_global_position_s global_pos;
+		memset(&global_pos, 0, sizeof(global_pos));
+		struct vehicle_global_position_setpoint_s global_setpoint;
+		memset(&global_setpoint, 0, sizeof(global_setpoint));
+		struct vehicle_attitude_s att;
+		memset(&att, 0, sizeof(att));
 
 		/* output structs */
 		struct vehicle_attitude_setpoint_s attitude_setpoint;
 		memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
 
 		/* publish attitude setpoint */
-
 		attitude_setpoint.roll_tait_bryan = 0.0f;
-		attitude_setpoint.pitch_tait_bryan = 0.2f; //TODO: for testing
+		attitude_setpoint.pitch_tait_bryan = 0.0f;
 		attitude_setpoint.yaw_tait_bryan = 0.0f;
 		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
 
-
-
-//		/* subscribe */
-//
+		/* subscribe */
+		int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+		int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 
 		/* Setup of loop */
-//		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
 
 		while(!thread_should_exit)
 		{
 			/* wait for a sensor update, check for exit condition every 500 ms */
-//			poll(&fds, 1, 500);
-			sleep(500); //TODO removeme, this is for testing only
-
+			poll(&fds, 1, 500);
 
 			static int counter = 0;
 			static bool initialized = false;
@@ -177,24 +186,59 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			static struct fw_pos_control_params p;
 			static struct fw_pos_control_param_handles h;
 
+			PID_t heading_controller;
+
 			if(!initialized)
-				{
-					parameters_init(&h);
-					parameters_update(&h, &p);
-					initialized = true;
-				}
+			{
+				parameters_init(&h);
+				parameters_update(&h, &p);
+				pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
+				initialized = true;
+			}
 
-				/* load new parameters with lower rate */
-				if (counter % 100 == 0) {
-					/* update parameters from storage */
-					parameters_update(&h, &p);
+			/* load new parameters with lower rate */
+			if (counter % 100 == 0) {
+				/* update parameters from storage */
+				parameters_update(&h, &p);
+				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
 
-				}
+			}
 
-				/* Control */
-				//TODO: control here
+			/* Check if there is a new position or setpoint */
+			bool pos_updated;
+			orb_check(global_pos_sub, &pos_updated);
+			bool global_sp_updated;
+			orb_check(global_setpoint_sub, &global_sp_updated);
 
 
+			/* Load local copies */
+			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+			if(pos_updated)
+				orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+			if (global_sp_updated)
+				orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
+
+			/* Control */
+
+			/* Simple Horizontal Control */
+			/* calculate bearing error */
+			float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
+				global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
+
+			/* shift error to prevent wrapping issues */
+			float bearing_error = target_bearing - att.yaw;
+
+			if (bearing_error < M_PI_F) {
+				bearing_error += 2.0f * M_PI_F;
+			}
+
+			if (bearing_error > M_PI_F) {
+				bearing_error -= 2.0f * M_PI_F;
+			}
+
+			/* calculate roll setpoint, do this artificially around zero */
+			attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f);
+
 			orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
 
 			counter++;

From db8d369c55d091b988a054ad39fd323e945a9bb0 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 28 Oct 2012 19:44:30 +0100
Subject: [PATCH 19/34] added a very simple altitude controller for testing

---
 .../fixedwing_pos_control_main.c              | 51 ++++++++++++++-----
 1 file changed, 38 insertions(+), 13 deletions(-)

diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 5cab8eea78..eb4945464f 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -67,17 +67,21 @@
  *
  */
 PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
 PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
 PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
 
+
 struct fw_pos_control_params {
 	float heading_p;
+	float altitude_p;
 	float roll_lim;
 	float pitch_lim;
 };
 
 struct fw_pos_control_param_handles {
 	param_t heading_p;
+	param_t altitude_p;
 	param_t roll_lim;
 	param_t pitch_lim;
 
@@ -117,6 +121,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
 {
 	/* PID parameters */
 	h->heading_p 	=	param_find("FW_HEADING_P");
+	h->altitude_p 	=	param_find("FW_ALT_P");
 	h->roll_lim 	=	param_find("FW_ROLL_LIM");
 	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
 
@@ -127,6 +132,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
 static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
 {
 	param_get(h->heading_p, &(p->heading_p));
+	param_get(h->altitude_p, &(p->altitude_p));
 	param_get(h->roll_lim, &(p->roll_lim));
 	param_get(h->pitch_lim, &(p->pitch_lim));
 
@@ -174,6 +180,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 		/* Setup of loop */
 		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+		bool global_sp_updated_set_once = false;
 
 		while(!thread_should_exit)
 		{
@@ -187,12 +194,14 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			static struct fw_pos_control_param_handles h;
 
 			PID_t heading_controller;
+			PID_t altitude_controller;
 
 			if(!initialized)
 			{
 				parameters_init(&h);
 				parameters_update(&h, &p);
 				pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
+				pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE);
 				initialized = true;
 			}
 
@@ -201,6 +210,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				/* update parameters from storage */
 				parameters_update(&h, &p);
 				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
+				pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
 
 			}
 
@@ -209,6 +219,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			orb_check(global_pos_sub, &pos_updated);
 			bool global_sp_updated;
 			orb_check(global_setpoint_sub, &global_sp_updated);
+			if(global_sp_updated)
+				global_sp_updated_set_once = true;
 
 
 			/* Load local copies */
@@ -220,25 +232,38 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 			/* Control */
 
+
 			/* Simple Horizontal Control */
-			/* calculate bearing error */
-			float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
-				global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
+			if(global_sp_updated_set_once)
+			{
+				/* calculate bearing error */
+				float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
+					global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
 
-			/* shift error to prevent wrapping issues */
-			float bearing_error = target_bearing - att.yaw;
+				/* shift error to prevent wrapping issues */
+				float bearing_error = target_bearing - att.yaw;
 
-			if (bearing_error < M_PI_F) {
-				bearing_error += 2.0f * M_PI_F;
+				if (bearing_error < M_PI_F) {
+					bearing_error += 2.0f * M_PI_F;
+				}
+
+				if (bearing_error > M_PI_F) {
+					bearing_error -= 2.0f * M_PI_F;
+				}
+
+				/* calculate roll setpoint, do this artificially around zero */
+				attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f);
 			}
 
-			if (bearing_error > M_PI_F) {
-				bearing_error -= 2.0f * M_PI_F;
+			/* Very simple Altitude Control */
+			if(global_sp_updated_set_once && pos_updated)
+			{
+
+				//TODO: take care of relatie vs. ab. altitude
+				attitude_setpoint.pitch_tait_bryan = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+
 			}
-
-			/* calculate roll setpoint, do this artificially around zero */
-			attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f);
-
+			/*Publish the attitude setpoint */
 			orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
 
 			counter++;

From 9ad9d62f3476e6092c8fbbf33f4e6a141fd641c3 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 29 Oct 2012 23:04:00 +0100
Subject: [PATCH 20/34] Corrected some bugs, thanks to Doug for spotting them

---
 apps/fixedwing_att_control/fixedwing_att_control_att.c  | 7 ++-----
 apps/fixedwing_att_control/fixedwing_att_control_att.h  | 2 +-
 apps/fixedwing_att_control/fixedwing_att_control_rate.h | 2 +-
 3 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 29e9ee1bc3..18b290f994 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -66,7 +66,6 @@ struct fw_att_control_params {
 	float roll_p;
 	float rollrate_lim;
 	float pitch_p;
-	float pitch_lim;
 	float pitchrate_lim;
 	float yawrate_lim;
 	float pitch_roll_compensation_p;
@@ -76,7 +75,6 @@ struct fw_pos_control_param_handles {
 	param_t roll_p;
 	param_t rollrate_lim;
 	param_t pitch_p;
-	param_t pitch_lim;
 	param_t pitchrate_lim;
 	param_t yawrate_lim;
 	param_t pitch_roll_compensation_p;
@@ -94,7 +92,6 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
 	h->roll_p 		=	param_find("FW_ROLL_P");
 	h->rollrate_lim =	param_find("FW_ROLLR_LIM");
 	h->pitch_p 		=	param_find("FW_PITCH_P");
-	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
 	h->pitchrate_lim =	param_find("FW_PITCHR_LIM");
 	h->yawrate_lim =	param_find("FW_YAWR_LIM");
 	h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
@@ -141,7 +138,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	if (counter % 100 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.pitchrate_lim);
+		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim);
 		pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim);
 	}
 
@@ -150,7 +147,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 
 	/* Pitch (P) */
 	float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan;
-	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_tait_bryan, att->pitch, 0, 0);
+	rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
 	//TODO
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h
index f4d3eca7ce..ca7c14b43c 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.h
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h
@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* @file Main system state machine definition */
+/* @file Fixed Wing Attitude Control */
 
 #ifndef FIXEDWING_ATT_CONTROL_ATT_H_
 #define FIXEDWING_ATT_CONTROL_ATT_H_
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
index 2023353ebf..d394c3dacd 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.h
@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* @file Main system state machine definition */
+/* @file Fixed Wing Attitude Rate Control */
 
 #ifndef FIXEDWING_ATT_CONTROL_RATE_H_
 #define FIXEDWING_ATT_CONTROL_RATE_H_

From 18831db444df3af80a5b362189b53dc42382d2d6 Mon Sep 17 00:00:00 2001
From: Doug Weibel <deweibel@gmail.com>
Date: Tue, 30 Oct 2012 11:01:56 -0600
Subject: [PATCH 21/34] Work in process - beginning of navigation/position
 control implementation.  Compiles, but has not been tested.

---
 .../fixedwing_pos_control.h                   | 73 +++++++++++++++
 .../fixedwing_pos_control_main.c              | 93 +++++++++++++++++--
 2 files changed, 156 insertions(+), 10 deletions(-)
 create mode 100644 apps/fixedwing_pos_control/fixedwing_pos_control.h

diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control.h b/apps/fixedwing_pos_control/fixedwing_pos_control.h
new file mode 100644
index 0000000000..f631c90a1b
--- /dev/null
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control.h
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Doug Weibel <douglas.weibel@colorado.edu>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ 			 @author Thomas Gubler <thomasgubler@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 fixedwing_pos_control.h
+ * Position control for fixed wing airframes.
+ */
+
+#ifndef FIXEDWING_POS_CONTROL_H_
+#define FIXEDWING_POS_CONTROL_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+
+#endif 
+
+
+struct planned_path_segments_s {
+	bool segment_type;
+	double start_lat;			// Start of line or center of arc
+	double start_lon;
+	double end_lat;
+	double end_lon;
+	float radius;				// Radius of arc
+	float arc_start_bearing;		// Bearing from center to start of arc
+	float arc_sweep;				// Angle (radians) swept out by arc around center.  
+								// Positive for clockwise, negative for counter-clockwise
+};
+
+
+float _wrap180(float bearing);
+float _wrap360(float bearing);
+float _wrapPI(float bearing);
+float _wrap2PI(float bearing);
+
+/* FIXEDWING_CONTROL_H_ */
+
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index eb4945464f..9eb34ae449 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -67,6 +67,7 @@
  *
  */
 PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f);		// Radians per meter off track
 PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
 PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
 PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
@@ -74,6 +75,7 @@ PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
 
 struct fw_pos_control_params {
 	float heading_p;
+	float xtrack_p;
 	float altitude_p;
 	float roll_lim;
 	float pitch_lim;
@@ -81,6 +83,7 @@ struct fw_pos_control_params {
 
 struct fw_pos_control_param_handles {
 	param_t heading_p;
+	param_t xtrack_p;
 	param_t altitude_p;
 	param_t roll_lim;
 	param_t pitch_lim;
@@ -121,6 +124,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
 {
 	/* PID parameters */
 	h->heading_p 	=	param_find("FW_HEADING_P");
+	h->xtrack_p 	=	param_find("FW_XTRACK_P");
 	h->altitude_p 	=	param_find("FW_ALT_P");
 	h->roll_lim 	=	param_find("FW_ROLL_LIM");
 	h->pitch_lim 	=	param_find("FW_PITCH_LIM");
@@ -132,6 +136,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
 static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
 {
 	param_get(h->heading_p, &(p->heading_p));
+	param_get(h->xtrack_p, &(p->xtrack_p));
 	param_get(h->altitude_p, &(p->altitude_p));
 	param_get(h->roll_lim, &(p->roll_lim));
 	param_get(h->pitch_lim, &(p->pitch_lim));
@@ -158,11 +163,15 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		/* declare and safely initialize all structs */
 		struct vehicle_global_position_s global_pos;
 		memset(&global_pos, 0, sizeof(global_pos));
+		struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
+		memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
 		struct vehicle_global_position_setpoint_s global_setpoint;
 		memset(&global_setpoint, 0, sizeof(global_setpoint));
 		struct vehicle_attitude_s att;
 		memset(&att, 0, sizeof(att));
-
+		crosstrack_error_s xtrack_err;
+		//memset(&xtrack_err, 0, sizeof(xtrack_err));
+		
 		/* output structs */
 		struct vehicle_attitude_setpoint_s attitude_setpoint;
 		memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
@@ -181,6 +190,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		/* Setup of loop */
 		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
 		bool global_sp_updated_set_once = false;
+		bool start_point_set = false;		// This is a temporary flag till the
+											// previous waypoint is available for computations
 
 		while(!thread_should_exit)
 		{
@@ -221,7 +232,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			orb_check(global_setpoint_sub, &global_sp_updated);
 			if(global_sp_updated)
 				global_sp_updated_set_once = true;
-
+			if(global_sp_updated_set_once && !start_point_set) {
+				start_pos = global_pos;
+				start_point_set = true;
+			}
 
 			/* Load local copies */
 			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@@ -239,17 +253,18 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				/* calculate bearing error */
 				float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
 					global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
+				
+				/* calculate crosstrack error */
+				// Only the case of a straight line track following handled so far
+				xtrack_err = get_distance_to_line(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
+									start_pos.lat / (double)1e7d, start_pos.lon / (double)1e7d,
+									global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
 
 				/* shift error to prevent wrapping issues */
 				float bearing_error = target_bearing - att.yaw;
-
-				if (bearing_error < M_PI_F) {
-					bearing_error += 2.0f * M_PI_F;
-				}
-
-				if (bearing_error > M_PI_F) {
-					bearing_error -= 2.0f * M_PI_F;
-				}
+				if(!(xtrack_err.error || xtrack_err.past_end))
+						bearing_error -= p.xtrack_p * xtrack_err.distance;
+				bearing_error = _wrapPI(bearing_error);
 
 				/* calculate roll setpoint, do this artificially around zero */
 				attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f);
@@ -344,4 +359,62 @@ int fixedwing_pos_control_main(int argc, char *argv[])
 }
 
 
+float _wrapPI(float bearing)
+{
+
+	while (bearing > M_PI_F) {
+		bearing = bearing - M_TWOPI_F;
+	}
+
+	while (bearing <=  -M_PI_F) {
+		bearing = bearing + M_TWOPI_F;
+	}
+
+	return bearing;
+}
+
+float _wrap2PI(float bearing)
+{
+
+	while (bearing >= M_TWOPI_F) {
+		bearing = bearing - M_TWOPI_F;
+	}
+
+	while (bearing <  0.0f) {
+		bearing = bearing + M_TWOPI_F;
+	}
+
+	return bearing;
+}
+
+float _wrap180(float bearing)
+{
+
+	while (bearing > 180.0f) {
+		bearing = bearing - 360.0f;
+	}
+
+	while (bearing <=  -180.0f) {
+		bearing = bearing + 360.0f;
+	}
+
+	return bearing;
+}
+
+float _wrap360(float bearing)
+{
+
+	while (bearing >= 360.0f) {
+		bearing = bearing - 360.0f;
+	}
+
+	while (bearing <  0.0f) {
+		bearing = bearing + 360.0f;
+	}
+
+	return bearing;
+}
+
+
+
 

From 5344e891671f75f2c38477f07643052bf6a3a3d3 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 5 Nov 2012 20:42:43 +0100
Subject: [PATCH 22/34] work in progress: line following working

---
 .../fixedwing_pos_control_main.c              | 71 +++++++++++++------
 apps/systemlib/pid/pid.c                      |  4 +-
 2 files changed, 51 insertions(+), 24 deletions(-)

diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 9eb34ae449..5f5b70090f 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -170,7 +170,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		struct vehicle_attitude_s att;
 		memset(&att, 0, sizeof(att));
 		crosstrack_error_s xtrack_err;
-		//memset(&xtrack_err, 0, sizeof(xtrack_err));
+		memset(&xtrack_err, 0, sizeof(xtrack_err));
 		
 		/* output structs */
 		struct vehicle_attitude_setpoint_s attitude_setpoint;
@@ -190,8 +190,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		/* Setup of loop */
 		struct pollfd fds = { .fd = att_sub, .events = POLLIN };
 		bool global_sp_updated_set_once = false;
-		bool start_point_set = false;		// This is a temporary flag till the
-											// previous waypoint is available for computations
+
+		float psi_track = 0.0f;
 
 		while(!thread_should_exit)
 		{
@@ -230,12 +230,6 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			orb_check(global_pos_sub, &pos_updated);
 			bool global_sp_updated;
 			orb_check(global_setpoint_sub, &global_sp_updated);
-			if(global_sp_updated)
-				global_sp_updated_set_once = true;
-			if(global_sp_updated_set_once && !start_point_set) {
-				start_pos = global_pos;
-				start_point_set = true;
-			}
 
 			/* Load local copies */
 			orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@@ -244,37 +238,70 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			if (global_sp_updated)
 				orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
 
+			if(global_sp_updated) {
+				start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint)
+				global_sp_updated_set_once = true;
+				psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+						(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
+				printf("psi_track: %0.4f\n", psi_track);
+			}
+
 			/* Control */
 
 
 			/* Simple Horizontal Control */
 			if(global_sp_updated_set_once)
 			{
+				if (counter % 100 == 0)
+					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
+
 				/* calculate bearing error */
-				float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
-					global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
+//				float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
+//					global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
 				
 				/* calculate crosstrack error */
 				// Only the case of a straight line track following handled so far
-				xtrack_err = get_distance_to_line(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
-									start_pos.lat / (double)1e7d, start_pos.lon / (double)1e7d,
-									global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
+				xtrack_err = get_distance_to_line((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+						(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
+						(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
-				/* shift error to prevent wrapping issues */
-				float bearing_error = target_bearing - att.yaw;
-				if(!(xtrack_err.error || xtrack_err.past_end))
-						bearing_error -= p.xtrack_p * xtrack_err.distance;
-				bearing_error = _wrapPI(bearing_error);
+				if(!(xtrack_err.error || xtrack_err.past_end)) {
+
+					float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
+
+					if(delta_psi_c > 60.0f*M_DEG_TO_RAD)
+						delta_psi_c = 60.0f*M_DEG_TO_RAD;
+
+					if(delta_psi_c < -60.0f*M_DEG_TO_RAD)
+						delta_psi_c = -60.0f*M_DEG_TO_RAD;
+
+					float psi_c = psi_track + delta_psi_c;
+
+
+					float psi_e = psi_c - att.yaw;
+
+
+					/* shift error to prevent wrapping issues */
+					psi_e = _wrapPI(psi_e);
+
+					/* calculate roll setpoint, do this artificially around zero */
+					attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+
+					if (counter % 100 == 0)
+						printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
+				}
+				else {
+					if (counter % 100 == 0)
+						printf("error: %d, past_end %d\n", xtrack_err.error, xtrack_err.past_end);
+				}
 
-				/* calculate roll setpoint, do this artificially around zero */
-				attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f);
 			}
 
 			/* Very simple Altitude Control */
 			if(global_sp_updated_set_once && pos_updated)
 			{
 
-				//TODO: take care of relatie vs. ab. altitude
+				//TODO: take care of relative vs. ab. altitude
 				attitude_setpoint.pitch_tait_bryan = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
 
 			}
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
index dd8b6adc66..0358caa250 100644
--- a/apps/systemlib/pid/pid.c
+++ b/apps/systemlib/pid/pid.c
@@ -172,9 +172,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 	// Calculate the output.  Limit output magnitude to pid->limit
 	float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
 
-	//if (output > pid->limit) output = pid->limit;
+	if (output > pid->limit) output = pid->limit;
 
-	//if (output < -pid->limit) output = -pid->limit;
+	if (output < -pid->limit) output = -pid->limit;
 
 	if (isfinite(output)) {
 		pid->last_output = output;

From 808d897d2817dd1958a0fad75ac2bfa3925cfd8d Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 5 Nov 2012 21:51:39 +0100
Subject: [PATCH 23/34] fixing mavlink waypoint handling

---
 apps/mavlink/waypoints.c | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/apps/mavlink/waypoints.c b/apps/mavlink/waypoints.c
index 3d9e5750aa..16759237e9 100644
--- a/apps/mavlink/waypoints.c
+++ b/apps/mavlink/waypoints.c
@@ -360,7 +360,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 		float dist = -1.0f;
 
 		if (coordinate_frame == (int)MAV_FRAME_GLOBAL) {
-			dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->alt);
+			dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt);
 
 		} else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
 			dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt);
@@ -376,14 +376,13 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 		if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw
 			wpm->pos_reached = true;
 
-			if (counter % 10 == 0)
+			if (counter % 100 == 0)
 				printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit);
 		}
-
 //		else
 //		{
 //			if(counter % 100 == 0)
-//				printf("Setpoint not reached yet: %0.4f, orbit: %.4f\n",dist,orbit);
+//				printf("Setpoint not reached yet: %0.4f, orbit: %.4f, coordinate frame: %d\n",dist, orbit, coordinate_frame);
 //		}
 	}
 

From c4c49ecfa705c6c871afe61f6c058bbb5910a617 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 5 Nov 2012 22:36:09 +0100
Subject: [PATCH 24/34] fw control: minor cleanup (work in progress)

---
 .../fixedwing_pos_control_main.c                     | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 5f5b70090f..e778e20701 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -239,7 +239,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
 
 			if(global_sp_updated) {
-				start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint)
+				start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
 				global_sp_updated_set_once = true;
 				psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
 						(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
@@ -252,12 +252,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			/* Simple Horizontal Control */
 			if(global_sp_updated_set_once)
 			{
-				if (counter % 100 == 0)
-					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-
-				/* calculate bearing error */
-//				float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
-//					global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
+//				if (counter % 100 == 0)
+//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
 				
 				/* calculate crosstrack error */
 				// Only the case of a straight line track following handled so far
@@ -277,10 +273,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 					float psi_c = psi_track + delta_psi_c;
 
-
 					float psi_e = psi_c - att.yaw;
 
-
 					/* shift error to prevent wrapping issues */
 					psi_e = _wrapPI(psi_e);
 

From 0eea4bfb4e6c7e076f9dbe9d93641884ea20de6f Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 5 Nov 2012 22:36:09 +0100
Subject: [PATCH 25/34] fw control: minor cleanup (work in progress)

---
 .../fixedwing_pos_control_main.c                 | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 5f5b70090f..38f5db9e42 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -239,7 +239,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
 
 			if(global_sp_updated) {
-				start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint)
+				start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
 				global_sp_updated_set_once = true;
 				psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
 						(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
@@ -252,12 +252,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			/* Simple Horizontal Control */
 			if(global_sp_updated_set_once)
 			{
-				if (counter % 100 == 0)
-					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-
-				/* calculate bearing error */
-//				float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
-//					global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
+//				if (counter % 100 == 0)
+//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
 				
 				/* calculate crosstrack error */
 				// Only the case of a straight line track following handled so far
@@ -277,18 +273,16 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 					float psi_c = psi_track + delta_psi_c;
 
-
 					float psi_e = psi_c - att.yaw;
 
-
 					/* shift error to prevent wrapping issues */
 					psi_e = _wrapPI(psi_e);
 
 					/* calculate roll setpoint, do this artificially around zero */
 					attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
 
-					if (counter % 100 == 0)
-						printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
+//					if (counter % 100 == 0)
+//						printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
 				}
 				else {
 					if (counter % 100 == 0)

From 88800b38f8035143c443fbba6bbce368ccc42594 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 7 Nov 2012 00:08:04 +0100
Subject: [PATCH 26/34] HIL testing / cleanup for fixed wing and multirotors

---
 apps/mavlink/mavlink.c      |  5 -----
 apps/mavlink/orb_listener.c | 40 ++++++++++---------------------------
 2 files changed, 10 insertions(+), 35 deletions(-)

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 9b2cfcbba8..6b4643ec7e 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -143,15 +143,10 @@ set_hil_on_off(bool hil_enabled)
 	/* Enable HIL */
 	if (hil_enabled && !mavlink_hil_enabled) {
 
-		//printf("\n HIL ON \n");
-
 		/* Advertise topics */
 		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
 
-		printf("\n pub_hil_attitude :%i\n", pub_hil_attitude);
-		printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos);
-
 		mavlink_hil_enabled = true;
 
 		/* ramp up some HIL-related subscriptions */
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 683964a0d9..6342ce9793 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -459,29 +459,9 @@ l_manual_control_setpoint(struct listener *l)
 void
 l_vehicle_attitude_controls(struct listener *l)
 {
-	struct actuator_controls_s actuators;
+	struct actuator_outputs_s actuators;
 
-	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators);
-
-	if (gcs_link) {
-		/* send, add spaces so that string buffer is at least 10 chars long */
-		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
-						   last_sensor_timestamp / 1000,
-						   "ctrl0       ",
-						   actuators.control[0]);
-		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
-						   last_sensor_timestamp / 1000,
-						   "ctrl1       ",
-						   actuators.control[1]);
-		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
-						   last_sensor_timestamp / 1000,
-						   "ctrl2       ",
-						   actuators.control[2]);
-		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
-						   last_sensor_timestamp / 1000,
-						   "ctrl3       ",
-						   actuators.control[3]);
-	}
+	orb_copy(ORB_ID_VEHICLE_CONTROLS, mavlink_subs.act_0_sub, &actuators);
 
 	/* Only send in HIL mode */
 	if (mavlink_hil_enabled) {
@@ -494,14 +474,14 @@ l_vehicle_attitude_controls(struct listener *l)
 		/* HIL message as per MAVLink spec */
 		mavlink_msg_hil_controls_send(chan,
 			hrt_absolute_time(),
-			actuators.control[0],
-			actuators.control[1],
-			actuators.control[2],
-			actuators.control[3],
-			0,
-			0,
-			0,
-			0,
+			actuators.output[0],
+			actuators.output[1],
+			actuators.output[2],
+			actuators.output[3],
+			actuators.output[4],
+			actuators.output[5],
+			actuators.output[6],
+			actuators.output[7],
 			mavlink_mode,
 			0);
 	}

From 1b322c7764e62e4dec17fb2e38723e89e398bdfb Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 7 Nov 2012 23:50:06 +0100
Subject: [PATCH 27/34] Fixed bug in HIL message handling, operational with
 actuator outputs now

---
 apps/mavlink/orb_listener.c | 69 ++++++++++++++++++++++++-------------
 1 file changed, 45 insertions(+), 24 deletions(-)

diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 6342ce9793..7a393185f4 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -419,7 +419,7 @@ l_actuator_outputs(struct listener *l)
 	/* copy actuator data into local buffer */
 	orb_copy(ids[l->arg], *l->subp, &act_outputs);
 
-	if (gcs_link)
+	if (gcs_link) {
 		mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
 					  l->arg /* port number */,
 					  act_outputs.output[0],
@@ -430,6 +430,30 @@ l_actuator_outputs(struct listener *l)
 					  act_outputs.output[5],
 					  act_outputs.output[6],
 					  act_outputs.output[7]);
+
+		/* only send in HIL mode */
+		if (mavlink_hil_enabled) {
+
+			/* translate the current syste state to mavlink state and mode */
+			uint8_t mavlink_state = 0;
+			uint8_t mavlink_mode = 0;
+			get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
+
+			/* HIL message as per MAVLink spec */
+			mavlink_msg_hil_controls_send(chan,
+				hrt_absolute_time(),
+				act_outputs.output[0],
+				act_outputs.output[1],
+				act_outputs.output[2],
+				act_outputs.output[3],
+				act_outputs.output[4],
+				act_outputs.output[5],
+				act_outputs.output[6],
+				act_outputs.output[7],
+				mavlink_mode,
+				0);
+		}
+	}
 }
 
 void
@@ -459,31 +483,28 @@ l_manual_control_setpoint(struct listener *l)
 void
 l_vehicle_attitude_controls(struct listener *l)
 {
-	struct actuator_outputs_s actuators;
+	struct actuator_controls_s actuators;
 
-	orb_copy(ORB_ID_VEHICLE_CONTROLS, mavlink_subs.act_0_sub, &actuators);
+	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators);
 
-	/* Only send in HIL mode */
-	if (mavlink_hil_enabled) {
-
-		/* translate the current syste state to mavlink state and mode */
-		uint8_t mavlink_state = 0;
-		uint8_t mavlink_mode = 0;
-		get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
-
-		/* HIL message as per MAVLink spec */
-		mavlink_msg_hil_controls_send(chan,
-			hrt_absolute_time(),
-			actuators.output[0],
-			actuators.output[1],
-			actuators.output[2],
-			actuators.output[3],
-			actuators.output[4],
-			actuators.output[5],
-			actuators.output[6],
-			actuators.output[7],
-			mavlink_mode,
-			0);
+	if (gcs_link) {
+		/* send, add spaces so that string buffer is at least 10 chars long */
+		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+						   last_sensor_timestamp / 1000,
+						   "ctrl0       ",
+						   actuators.control[0]);
+		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+						   last_sensor_timestamp / 1000,
+						   "ctrl1       ",
+						   actuators.control[1]);
+		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+						   last_sensor_timestamp / 1000,
+						   "ctrl2       ",
+						   actuators.control[2]);
+		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+						   last_sensor_timestamp / 1000,
+						   "ctrl3       ",
+						   actuators.control[3]);
 	}
 }
 

From 9221addebdef70e92c34fc7c82dc79ed754f2b6e Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 8 Nov 2012 18:15:23 +0100
Subject: [PATCH 28/34] Added HIL/fake PWM out mode to be able to run a mixer
 against HIL

---
 apps/drivers/px4fmu/fmu.cpp | 71 ++++++++++++++++++++++++++++++++-----
 1 file changed, 63 insertions(+), 8 deletions(-)

diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index fff713bb5e..7b1f341b44 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -74,6 +74,7 @@ public:
 	enum Mode {
 		MODE_2PWM,
 		MODE_4PWM,
+		MODE_HIL_8PWM,
 		MODE_NONE
 	};
 	PX4FMU();
@@ -269,6 +270,12 @@ PX4FMU::set_mode(Mode mode)
 		_update_rate = 50;	/* default output rate */
 		break;
 
+	case MODE_HIL_8PWM:
+		debug("MODE_HIL_8PWM");
+		/* do not actually start a pwm device */
+		_update_rate = 50;	/* default output rate */
+		break;
+
 	case MODE_NONE:
 		debug("MODE_NONE");
 		/* disable servo outputs and set a very low update rate */
@@ -321,7 +328,26 @@ PX4FMU::task_main()
 	fds[1].fd = _t_armed;
 	fds[1].events = POLLIN;
 
-	unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
+	unsigned num_outputs;
+
+	/* select the number of (real or virtual) outputs */
+	switch (_mode) {
+	case MODE_2PWM:
+		num_outputs = 2;
+		break;
+
+	case MODE_4PWM:
+		num_outputs = 4;
+		break;
+
+	case MODE_HIL_8PWM:
+		num_outputs = 8;
+		break;
+
+	case MODE_NONE:
+		num_outputs = 0;
+		break;
+	}
 
 	log("starting");
 
@@ -334,7 +360,11 @@ PX4FMU::task_main()
 			if (update_rate_in_ms < 2)
 				update_rate_in_ms = 2;
 			orb_set_interval(_t_actuators, update_rate_in_ms);
-			up_pwm_servo_set_rate(_update_rate);
+
+			if (_mode != MODE_HIL_8PWM) {
+				/* do not attempt to set servos in HIL mode */
+				up_pwm_servo_set_rate(_update_rate);
+			}
 			_current_update_rate = _update_rate;
 		}
 
@@ -367,7 +397,11 @@ PX4FMU::task_main()
 					outputs.output[i] = 1500 + (600 * outputs.output[i]);
 
 					/* output to the servo */
-					up_pwm_servo_set(i, outputs.output[i]);
+					if (_mode != MODE_HIL_8PWM) {
+						/* do not attempt to set servos in HIL mode */
+						up_pwm_servo_set(i, outputs.output[i]);
+					}
+					
 				}
 
 				/* and publish for anyone that cares to see */
@@ -383,7 +417,14 @@ PX4FMU::task_main()
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
 
 			/* update PWM servo armed status */
-			up_pwm_servo_arm(aa.armed);
+
+			/*
+			 * armed  = system wants to fly
+			 * locked = there is a low-level safety lock
+			 *          in place, such as in hardware-in-the-loop
+			 *          simulation setups.
+			 */
+			up_pwm_servo_arm(aa.armed && !aa.lockdown);
 		}
 	}
 
@@ -419,7 +460,8 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 {
 	int ret;
 
-	debug("ioctl 0x%04x 0x%08x", cmd, arg);
+	// XXX disable debug output, users got confused
+	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
 
 	/* try it as a GPIO ioctl first */
 	ret = gpio_ioctl(filp, cmd, arg);
@@ -432,6 +474,10 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 	case MODE_4PWM:
 		ret = pwm_ioctl(filp, cmd, arg);
 		break;
+	case MODE_HIL_8PWM:
+		/* do nothing */
+		debug("loading mixer for virtual HIL device");
+		break;
 	default:
 		debug("not in a PWM mode");
 		break;
@@ -705,6 +751,7 @@ enum PortMode {
 	PORT_GPIO_AND_SERIAL,
 	PORT_PWM_AND_SERIAL,
 	PORT_PWM_AND_GPIO,
+	PORT_HIL_PWM
 };
 
 PortMode g_port_mode;
@@ -753,6 +800,11 @@ fmu_new_mode(PortMode new_mode, int update_rate)
 		/* select 2-pin PWM mode */
 		servo_mode = PX4FMU::MODE_2PWM;
 		break;
+
+	case PORT_HIL_PWM:
+		/* virtual PWM mode */
+		servo_mode = PX4FMU::MODE_HIL_8PWM;
+		break;
 	}
 
 	/* adjust GPIO config for serial mode(s) */
@@ -882,11 +934,14 @@ fmu_main(int argc, char *argv[])
 
 		} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
 			new_mode = PORT_PWM_AND_GPIO;
+
+		} else if (!strcmp(argv[i], "mode_hil_pwm")) {
+			new_mode = PORT_HIL_PWM;
 		}
 
 		/* look for the optional pwm update rate for the supported modes */
 		if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
-			if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) {
+			if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO || PORT_HIL_PWM) {
 				if (argc > i + 1) {
 					pwm_update_rate_in_hz = atoi(argv[i + 1]);
 				} else {
@@ -912,7 +967,7 @@ fmu_main(int argc, char *argv[])
 
 	/* test, etc. here */
 
-	fprintf(stderr, "FMU: unrecognised command, try:\n");
-	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
+	fprintf(stderr, "FMU: unrecognized command, try:\n");
+	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial,\n  mode_pwm_serial, mode_pwm_gpio, mode_hil_pwm\n");
 	return -EINVAL;
 }

From bb0c7450c8b019fee03831c3b47119330f3b291f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 8 Nov 2012 18:43:38 +0100
Subject: [PATCH 29/34] Fixed mixer loading for FMU

---
 apps/drivers/px4fmu/fmu.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index 7b1f341b44..dc9e431e4a 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -477,6 +477,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 	case MODE_HIL_8PWM:
 		/* do nothing */
 		debug("loading mixer for virtual HIL device");
+		ret = 0;
 		break;
 	default:
 		debug("not in a PWM mode");

From 3e6e7647c95d160f919c089471b6ed3acac2e51f Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 10 Nov 2012 20:02:16 +0100
Subject: [PATCH 30/34] corrected hil scaling factors

---
 apps/mavlink/orb_listener.c | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index f17c78c7a5..c49b470512 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -447,25 +447,25 @@ l_actuator_outputs(struct listener *l)
 			if (isfinite(act_outputs.output[3])
 				&& act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) {
 				/* throttle is fourth output */
-				rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f;
-				throttle = (act_outputs.output[3] - 1000.0f) / 1000.0f;
+				rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
+				throttle = (((act_outputs.output[3] - 1500.0f) / 600.0f) + 1.0f) / 2.0f;
 			} else {
 				/* only three outputs, put throttle on position 4 / index 3 */
 				rudder = 0;
-				throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f;
+				throttle = (((act_outputs.output[2] - 1500.0f) / 600.0f) + 1.0f) / 2.0f;
 			}
 
 			/* HIL message as per MAVLink spec */
 			mavlink_msg_hil_controls_send(chan,
 				hrt_absolute_time(),
-				(act_outputs.output[0] - 1500.0f) / 1000.0f,
-				(act_outputs.output[1] - 1500.0f) / 1000.0f,
+				(act_outputs.output[0] - 1500.0f) / 600.0f,
+				(act_outputs.output[1] - 1500.0f) / 600.0f,
 				rudder,
 				throttle,
-				(act_outputs.output[4] - 1500.0f) / 1000.0f,
-				(act_outputs.output[5] - 1500.0f) / 1000.0f,
-				(act_outputs.output[6] - 1500.0f) / 1000.0f,
-				(act_outputs.output[7] - 1500.0f) / 1000.0f,
+				(act_outputs.output[4] - 1500.0f) / 600.0f,
+				(act_outputs.output[5] - 1500.0f) / 600.0f,
+				(act_outputs.output[6] - 1500.0f) / 600.0f,
+				(act_outputs.output[7] - 1500.0f) / 600.0f,
 				mavlink_mode,
 				0);
 		}

From 60198e3a2da7c5507abcab7a3d032858691d024a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 11 Nov 2012 17:35:55 +0100
Subject: [PATCH 31/34] small code cleanup

---
 .../fixedwing_pos_control_main.c              |  8 +-
 apps/systemlib/geo/geo.c                      | 76 ++++++++++---------
 apps/systemlib/geo/geo.h                      |  9 +--
 3 files changed, 48 insertions(+), 45 deletions(-)

diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 38f5db9e42..4430489130 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -169,7 +169,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		memset(&global_setpoint, 0, sizeof(global_setpoint));
 		struct vehicle_attitude_s att;
 		memset(&att, 0, sizeof(att));
-		crosstrack_error_s xtrack_err;
+		struct crosstrack_error_s xtrack_err;
 		memset(&xtrack_err, 0, sizeof(xtrack_err));
 		
 		/* output structs */
@@ -257,11 +257,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				
 				/* calculate crosstrack error */
 				// Only the case of a straight line track following handled so far
-				xtrack_err = get_distance_to_line((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+				 int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
 						(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
 						(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
-				if(!(xtrack_err.error || xtrack_err.past_end)) {
+				if(!(distance_res != OK || xtrack_err.past_end)) {
 
 					float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
 
@@ -286,7 +286,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				}
 				else {
 					if (counter % 100 == 0)
-						printf("error: %d, past_end %d\n", xtrack_err.error, xtrack_err.past_end);
+						printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
 				}
 
 			}
diff --git a/apps/systemlib/geo/geo.c b/apps/systemlib/geo/geo.c
index abe44c69e8..2f4b37e79e 100644
--- a/apps/systemlib/geo/geo.c
+++ b/apps/systemlib/geo/geo.c
@@ -45,7 +45,12 @@
  */
 
 #include <systemlib/geo/geo.h>
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
 #include <math.h>
+#include <stdbool.h>
 
 
 /* values for map projection */
@@ -230,25 +235,24 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
 
 // Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
 
-__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
+__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
 {
 // This function returns the distance to the nearest point on the track line.  Distance is positive if current
 // position is right of the track and negative if left of the track as seen from a point on the track line
 // headed towards the end point.
 
-	crosstrack_error_s return_var;
 	float dist_to_end;
 	float bearing_end;
 	float bearing_track;
 	float bearing_diff;
 
-	return_var.error = true;		// Set error flag, cleared when valid result calculated.
-	return_var.past_end = false;
-	return_var.distance = 0.0f;
-	return_var.bearing = 0.0f;
+	int return_value = ERROR;	// Set error flag, cleared when valid result calculated.
+	crosstrack_error->past_end = false;
+	crosstrack_error->distance = 0.0f;
+	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_var;
+	if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_value;
 
 	bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 	bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
@@ -257,35 +261,34 @@ __EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now,
 
 	// Return past_end = true if past end point of line
 	if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
-		return_var.past_end = true;
-		return_var.error = false;
-		return return_var;
+		crosstrack_error->past_end = true;
+		return_value = OK;
+		return return_value;
 	}
 
 	dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-	return_var.distance = (dist_to_end) * sin(bearing_diff);
+	crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
 
 	if (sin(bearing_diff) >= 0) {
-		return_var.bearing = _wrapPI(bearing_track - M_PI_2_F);
+		crosstrack_error->bearing = _wrapPI(bearing_track - M_PI_2_F);
 
 	} else {
-		return_var.bearing = _wrapPI(bearing_track + M_PI_2_F);
+		crosstrack_error->bearing = _wrapPI(bearing_track + M_PI_2_F);
 	}
 
-	return_var.error = false;
+	return_value = OK;
 
-	return return_var;
+	return return_value;
 
 }
 
 
-__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
+__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
 		float radius, float arc_start_bearing, float arc_sweep)
 {
 	// This function returns the distance to the nearest point on the track arc.  Distance is positive if current
 	// position is right of the arc and negative if left of the arc as seen from the closest point on the arc and
 	// headed towards the end point.
-	crosstrack_error_s return_var;
 
 	// Determine if the current position is inside or outside the sector between the line from the center
 	// to the arc start and the line from the center to the arc end
@@ -294,13 +297,13 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
 	float	bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
 	bool	in_sector;
 
-	return_var.error = true;		// Set error flag, cleared when valid result calculated.
-	return_var.past_end = false;
-	return_var.distance = 0.0f;
-	return_var.bearing = 0.0f;
+	int return_value = ERROR;		// Set error flag, cleared when valid result calculated.
+	crosstrack_error->past_end = false;
+	crosstrack_error->distance = 0.0f;
+	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_var;
+	if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_value;
 
 
 	if (arc_sweep >= 0) {
@@ -313,7 +316,7 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
 		bearing_sector_end = arc_start_bearing;
 		bearing_sector_start = arc_start_bearing - arc_sweep;
 
-		if (bearing_sector_start < 0.0) bearing_sector_start += M_TWOPI_F;
+		if (bearing_sector_start < 0.0f) bearing_sector_start += M_TWOPI_F;
 	}
 
 	in_sector = false;
@@ -326,16 +329,16 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
 
 	// If in the sector then calculate distance and bearing to closest point
 	if (in_sector) {
-		return_var.past_end = false;
+		crosstrack_error->past_end = false;
 		float dist_to_center = get_distance_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
 
 		if (dist_to_center <= radius) {
-			return_var.distance = radius - dist_to_center;
-			return_var.bearing = bearing_now + M_PI_F;
+			crosstrack_error->distance = radius - dist_to_center;
+			crosstrack_error->bearing = bearing_now + M_PI_F;
 
 		} else {
-			return_var.distance = dist_to_center - radius;
-			return_var.bearing = bearing_now;
+			crosstrack_error->distance = dist_to_center - radius;
+			crosstrack_error->bearing = bearing_now;
 		}
 
 		// If out of the sector then calculate dist and bearing to start or end point
@@ -359,21 +362,22 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
 		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
 		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 
+
 		if (dist_to_start < dist_to_end) {
-			return_var.distance = dist_to_start;
-			return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
+			crosstrack_error->distance = dist_to_start;
+			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
 
 		} else {
-			return_var.past_end = true;
-			return_var.distance = dist_to_end;
-			return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+			crosstrack_error->past_end = true;
+			crosstrack_error->distance = dist_to_end;
+			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 		}
 
 	}
 
-	return_var.bearing = _wrapPI(return_var.bearing);
-	return_var.error = false;
-	return return_var;
+	crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
+	return_value = OK;
+	return return_value;
 }
 
 float _wrapPI(float bearing)
diff --git a/apps/systemlib/geo/geo.h b/apps/systemlib/geo/geo.h
index 807e508a29..7aad79a8c7 100644
--- a/apps/systemlib/geo/geo.h
+++ b/apps/systemlib/geo/geo.h
@@ -48,12 +48,11 @@
 
 #include <stdbool.h>
 
-typedef struct {
-	bool error;			// Flag that the calculation failed
+struct crosstrack_error_s {
 	bool past_end;		// Flag indicating we are past the end of the line/arc segment
 	float distance;		// Distance in meters to closest point on line/arc
 	float bearing;		// Bearing in radians to closest point on line/arc
-} crosstrack_error_s;
+} ;
 
 __EXPORT static void map_projection_init(double lat_0, double lon_0);
 
@@ -67,9 +66,9 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
 
 //
 
-__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
+__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
 
-__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
+__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
 		float radius, float arc_start_bearing, float arc_sweep);
 
 float _wrap180(float bearing);

From 403874d313464c72da309483e6e8271e9c70f965 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 11 Nov 2012 17:55:05 +0100
Subject: [PATCH 32/34] change sign of elevator in mixer to match standard
 convention (positive --> more lift)

---
 ROMFS/mixers/FMU_AERT.mix                               | 4 ++--
 ROMFS/mixers/FMU_AET.mix                                | 4 ++--
 ROMFS/mixers/FMU_RET.mix                                | 4 ++--
 apps/fixedwing_att_control/fixedwing_att_control_rate.c | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix
index d7e317e134..75e82bb00a 100644
--- a/ROMFS/mixers/FMU_AERT.mix
+++ b/ROMFS/mixers/FMU_AERT.mix
@@ -36,8 +36,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
 
 Rudder mixer
 ------------
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix
index bd7056f7ca..20cb88b916 100644
--- a/ROMFS/mixers/FMU_AET.mix
+++ b/ROMFS/mixers/FMU_AET.mix
@@ -39,8 +39,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
 
 Output 2
 --------
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix
index 156fcb1292..95beb8927c 100644
--- a/ROMFS/mixers/FMU_RET.mix
+++ b/ROMFS/mixers/FMU_RET.mix
@@ -32,8 +32,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
 
 Output 2
 --------
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 567f037845..b81d50168b 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -171,7 +171,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
 
-	actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
+	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
 	actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); 	//XXX TODO disabled for now
 
 	counter++;

From a1059c5657d9d2b83d0ef7fe51b0997bb983d86e Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 12 Nov 2012 23:10:12 +0100
Subject: [PATCH 33/34] Added missing GPS message fields

---
 apps/uORB/topics/vehicle_gps_position.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h
index 8e55ef1481..ebd83e1a9b 100644
--- a/apps/uORB/topics/vehicle_gps_position.h
+++ b/apps/uORB/topics/vehicle_gps_position.h
@@ -65,6 +65,8 @@ struct vehicle_gps_position_s
 	uint16_t counter_pos_valid;		/**< is only increased when new lat/lon/alt information was added   */
 	uint16_t eph;				/**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME   */
 	uint16_t epv;				/**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535   */
+	float s_variance;			// XXX testing
+	float p_variance;			// XXX testing
 	uint16_t vel;				/**< GPS ground speed (m/s * 100). If unknown, set to: 65535   */
 	float vel_n;				/**< GPS ground speed in m/s */
 	float vel_e;				/**< GPS ground speed in m/s */

From 050698bedc9340bfc23ed18dfa84de664747e678 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 13 Nov 2012 10:03:39 +0100
Subject: [PATCH 34/34] Added missing channel count in px4io driver

---
 apps/drivers/px4io/px4io.cpp | 1 +
 apps/sensors/sensors.cpp     | 6 +++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index 72c7e34a13..0e84760d5e 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -467,6 +467,7 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
 
 	/* publish raw rc channel values from IO */
 	_input_rc.timestamp = hrt_absolute_time();
+	_input_rc.channel_count = rep->channel_count;
 	for (int i = 0; i < rep->channel_count; i++)
 	{
 		_input_rc.values[i] = rep->rc_channel[i];
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 675a8602a4..7c1503f0d2 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -93,6 +93,8 @@
 #define BAT_VOL_LOWPASS_2 0.01f
 #define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f
 
+#define PPM_INPUT_TIMEOUT_INTERVAL	50000 /**< 50 ms timeout / 20 Hz */
+
 /**
  * Sensor app start / stop handling function
  *
@@ -865,8 +867,10 @@ Sensors::ppm_poll()
 	struct rc_input_values raw;
 
 	raw.timestamp = ppm_last_valid_decode;
+	/* we are accepting this message */
+	_ppm_last_valid = ppm_last_valid_decode;
 
-	if (ppm_decoded_channels > 1) {
+	if (ppm_decoded_channels > 2 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
 
 		for (int i = 0; i < ppm_decoded_channels; i++) {
 			raw.values[i] = ppm_buffer[i];