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/**
* @file mc_pos_control_main.cpp
* Multicopter position controller.
*
* The controller has two loops: P loop for position error and PID loop for velocity error.
* Output of velocity controller is thrust vector that splitted to thrust direction
* (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
* Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
*
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "mc_pos_control.h"
bool thread_running = false; /**< Deamon status flag */
int main(int argc, char **argv)
{
px4::init(argc, argv, "mc_pos_control_m");
PX4_INFO("starting");
MulticopterPositionControl posctl;
thread_running = true;
posctl.spin();
PX4_INFO("exiting.");
thread_running = false;
return 0;
}