mc_att_control_vector renamed to mc_att_control

7 files changed, 64 insertions, 40 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index 4e0d68147..96fe32c8a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -16,7 +16,7 @@ position_estimator_inav start
 #
 # Start attitude control
 #
-mc_att_control_vector start
+mc_att_control start
 
 #
 # Start position control
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index e8c0ef981..51be7e1a1 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -82,7 +82,7 @@ MODULES		+= modules/position_estimator_inav
 #
 MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
-MODULES		+= modules/mc_att_control_vector
+MODULES		+= modules/mc_att_control
 MODULES		+= modules/mc_pos_control
 #MODULES		+= examples/flow_position_control
 #MODULES		+= examples/flow_speed_control
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 9dd052a4b..ab05d4e3d 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -85,7 +85,7 @@ MODULES		+= examples/flow_position_estimator
 #MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
 MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
-MODULES		+= modules/mc_att_control_vector
+MODULES		+= modules/mc_att_control
 MODULES		+= modules/mc_pos_control
 
 #
diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 239bd5570..93974c742 100644
--- a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *   Author: 	Tobias Naegeli <naegelit@student.ethz.ch>
  *   			Lorenz Meier <lm@inf.ethz.ch>
  *   			Anton Babushkin <anton.babushkin@me.com>
@@ -35,17 +35,8 @@
  ****************************************************************************/
 
 /**
- * @file mc_att_control_vector_main.c
+ * @file mc_att_control_main.c
  * Implementation of a multicopter attitude controller based on desired rotation matrix.
- *
- * References
- *  [1] Daniel Mellinger and Vijay Kumar, "Minimum Snap Trajectory Generation and Control for Quadrotors",
- *  	http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf
- *
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
- *
  */
 
 #include <nuttx/config.h>
@@ -82,7 +73,7 @@
  *
  * @ingroup apps
  */
-extern "C" __EXPORT int mc_att_control_vector_main(int argc, char *argv[]);
+extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
 
 #define MIN_TAKEOFF_THROTTLE	0.3f
 #define YAW_DEADZONE	0.01f
@@ -698,7 +689,7 @@ MulticopterAttitudeControl::start()
 	return OK;
 }
 
-int mc_att_control_vector_main(int argc, char *argv[])
+int mc_att_control_main(int argc, char *argv[])
 {
 	if (argc < 1)
 		errx(1, "usage: mc_att_control_vector {start|stop|status}");
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
new file mode 100644
index 000000000..299cef6c8
--- /dev/null
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *   	     @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Anton Babushkin <anton.babushkin@me.com>
+ *
+ * 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 mc_att_control_params.c
+ * Parameters for multicopter attitude controller.
+ */
+
+#include <systemlib/param/param.h>
+
+PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
+PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
diff --git a/src/modules/mc_att_control_vector/module.mk b/src/modules/mc_att_control/module.mk
index de0675df8..64b876f69 100644
--- a/src/modules/mc_att_control_vector/module.mk
+++ b/src/modules/mc_att_control/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013, 2014 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
@@ -35,7 +35,7 @@
 # Multirotor attitude controller (vector based, no Euler singularities)
 #
 
-MODULE_COMMAND	= mc_att_control_vector
+MODULE_COMMAND	= mc_att_control
 
-SRCS		= mc_att_control_vector_main.cpp \
-			  mc_att_control_vector_params.c
+SRCS		= mc_att_control_main.cpp \
+			  mc_att_control_params.c
diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_params.c b/src/modules/mc_att_control_vector/mc_att_control_vector_params.c
deleted file mode 100644
index 613d1945b..000000000
--- a/src/modules/mc_att_control_vector/mc_att_control_vector_params.c
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * mc_att_control_vector_params.c
- *
- *  Created on: 26.12.2013
- *      Author: ton
- */
-
-#include <systemlib/param/param.h>
-
-/* multicopter attitude controller parameters */
-PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f);
-PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f);
-PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);