path: root/src/modules/mc_att_control/mc_att_control_main.cpp

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/**
 * @file mc_att_control_main.cpp
 * Multicopter attitude controller.
 *
 * @author Tobias Naegeli <naegelit@student.ethz.ch>
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 * @author Thomas Gubler <thomasgubler@gmail.com>
 * @author Julian Oes <julian@oes.ch>
 * @author Roman Bapst <bapstr@ethz.ch>
 *
 * The controller has two loops: P loop for angular error and PD loop for angular rate error.
 * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
 * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
 * so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
 * These two approaches fused seamlessly with weight depending on angular error.
 * When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
 * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
 * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
 */

#include <string.h>
#include <cstdlib>
#include "mc_att_control.h"

static bool thread_running = false;     /**< Deamon status flag */
static int daemon_task;             /**< Handle of deamon task / thread */
namespace px4
{
bool task_should_exit = false;
}

using namespace px4;

PX4_MAIN_FUNCTION(mc_att_control);
void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
		PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
}


#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
/**
 * Multicopter attitude control app start / stop handling function
 *
 * @ingroup apps
 */

extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[])
{
	px4::init(argc, argv, "mc_att_control");

	if (argc < 1) {
		errx(1, "usage: mc_att_control {start|stop|status}");
	}

	if (!strcmp(argv[1], "start")) {

		if (thread_running) {
			warnx("already running");
			/* this is not an error */
			exit(0);
		}

		task_should_exit = false;

		daemon_task = task_spawn_cmd("mc_att_control",
				       SCHED_DEFAULT,
				       SCHED_PRIORITY_MAX - 5,
				       2000,
				       mc_att_control_task_main,
					(argv) ? (const char **)&argv[2] : (const char **)NULL);

		exit(0);
	}

	if (!strcmp(argv[1], "stop")) {
		task_should_exit = true;
		exit(0);
	}

	if (!strcmp(argv[1], "status")) {
		if (thread_running) {
			warnx("is running");

		} else {
			warnx("not started");
		}

		exit(0);
	}

	warnx("unrecognized command");
	return 1;
}
#endif

PX4_MAIN_FUNCTION(mc_att_control)
{
	warnx("starting");
	MulticopterAttitudeControl attctl;
	thread_running = true;
	attctl.spin();

	warnx("exiting.");
	thread_running = false;
	return 0;
}