Reworking control infrastructure for inner rate loop, preparing offboard interface

10 files changed, 424 insertions, 65 deletions

diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 2c288e92f..da85d0868 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -501,6 +501,8 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
 	current_status->flag_control_manual_enabled = true;
+	/* enable attitude control per default */
+	current_status->flag_control_attitude_enabled = true;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index ee3879b41..fb96866b0 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -83,7 +83,7 @@
 /* define MAVLink specific parameters */
 PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
 PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
-PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_GENERIC);
+PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_QUADROTOR);
 
 __EXPORT int mavlink_main(int argc, char *argv[]);
 int mavlink_thread_main(int argc, char *argv[]);
@@ -95,7 +95,7 @@ static int mavlink_task;
 /* terminate MAVLink on user request - disabled by default */
 static bool mavlink_link_termination_allowed = false;
 
-mavlink_system_t mavlink_system = {100, 50, MAV_TYPE_FIXED_WING, 0, 0, 0}; // System ID, 1-255, Component/Subsystem ID, 1-255
+mavlink_system_t mavlink_system = {100, 50, MAV_TYPE_QUADROTOR, 0, 0, 0}; // System ID, 1-255, Component/Subsystem ID, 1-255
 static uint8_t chan = MAVLINK_COMM_0;
 static mavlink_status_t status;
 
@@ -1093,6 +1093,8 @@ static void *uorb_receiveloop(void *arg)
 			/* --- DEBUG KEY/VALUE --- */
 			if (fds[ifds++].revents & POLLIN) {
 				orb_copy(ORB_ID(debug_key_value), subs->debug_key_value, &buf.debug);
+				/* Enforce null termination */
+				buf.debug.key[sizeof(buf.debug.key) - 1] = '\0';
 				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, buf.debug.key, buf.debug.value);
 			}
 		}
@@ -1234,26 +1236,36 @@ void handleMessage(mavlink_message_t *msg)
 
 	/* Handle quadrotor motor setpoints */
 
-	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT) {
-		mavlink_set_quad_motors_setpoint_t quad_motors_setpoint;
-		mavlink_msg_set_quad_motors_setpoint_decode(msg, &quad_motors_setpoint);
+	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
+		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
+		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
 //		printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", quad_motors_setpoint.target_system, mavlink_system.sysid);
 
-		if (quad_motors_setpoint.target_system == mavlink_system.sysid) {
-			ardrone_motors.motor_front_nw = quad_motors_setpoint.motor_front_nw;
-			ardrone_motors.motor_right_ne = quad_motors_setpoint.motor_right_ne;
-			ardrone_motors.motor_back_se = quad_motors_setpoint.motor_back_se;
-			ardrone_motors.motor_left_sw = quad_motors_setpoint.motor_left_sw;
+		if (mavlink_system.sysid < 4) {
+			ardrone_motors.p1 = quad_motors_setpoint.roll[mavlink_system.sysid];
+			ardrone_motors.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid];
+			ardrone_motors.p3 = quad_motors_setpoint.yaw[mavlink_system.sysid];
+			ardrone_motors.p4 = quad_motors_setpoint.thrust[mavlink_system.sysid];
 
-			ardrone_motors.counter++;
 			ardrone_motors.timestamp = hrt_absolute_time();
 
-			/* check if topic has to be advertised */
-			if (ardrone_motors_pub <= 0) {
-				ardrone_motors_pub = orb_advertise(ORB_ID(ardrone_motors_setpoint), &ardrone_motors);
+			/* only send if RC is off */
+			if (v_status.rc_signal_lost) {
+				/* check if input has to be enabled */
+				if (!v_status.flag_control_offboard_enabled) {
+					/* XXX Enable offboard control */
+				}
+
+				/* XXX decode mode and set flags */
+				// if (mode == abc) xxx flag_control_rates_enabled;
+
+				/* check if topic has to be advertised */
+				if (ardrone_motors_pub <= 0) {
+					ardrone_motors_pub = orb_advertise(ORB_ID(ardrone_motors_setpoint), &ardrone_motors);
+				}
+				/* Publish */
+				orb_publish(ORB_ID(ardrone_motors_setpoint), ardrone_motors_pub, &ardrone_motors);
 			}
-			/* Publish */
-			orb_publish(ORB_ID(ardrone_motors_setpoint), ardrone_motors_pub, &ardrone_motors);
 		}
 	}
 
@@ -1557,8 +1569,6 @@ int mavlink_thread_main(int argc, char *argv[])
 	mavlink_wpm_init(wpm);
 
 	uint16_t counter = 0;
-	/* arm counter to go off immediately */
-	int lowspeed_counter = 10;
 
 	/* make sure all threads have registered their subscriptions */
 	while (!mavlink_subs.initialized) {
@@ -1625,6 +1635,9 @@ int mavlink_thread_main(int argc, char *argv[])
 
 	thread_running = true;
 
+	/* arm counter to go off immediately */
+	int lowspeed_counter = 10;
+
 	while (!thread_should_exit) {
 
 		/* get local and global position */
@@ -1649,7 +1662,7 @@ int mavlink_thread_main(int argc, char *argv[])
 			
 			int32_t system_type;
 			param_get(param_system_type, &system_type);
-			if (system_type >= 0 && system_type < MAV_AUTOPILOT_ENUM_END) {
+			if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
 				mavlink_system.type = system_type;
 			}
 
@@ -1659,7 +1672,7 @@ int mavlink_thread_main(int argc, char *argv[])
 			get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
 
 			/* send heartbeat */
-			mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
+			mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
 
 			/* switch HIL mode if required */
 			set_hil_on_off(v_status.flag_hil_enabled);
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index a9f27197d..530033701 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -32,7 +32,7 @@
  *
  ****************************************************************************/
 
-/*
+/**
  * @file multirotor_att_control_main.c
  *
  * Implementation of multirotor attitude control main loop.
@@ -103,6 +103,8 @@ mc_thread_main(int argc, char *argv[])
 	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
 	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
 
 	/* 
 	 * Do not rate-limit the loop to prevent aliasing
@@ -143,28 +145,49 @@ mc_thread_main(int argc, char *argv[])
 		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 		/* get a local copy of attitude setpoint */
 		orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
+		/* get a local copy of the current sensor values */
+		orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
 
-		att_sp.roll_body = manual.roll;
-		att_sp.pitch_body = manual.pitch;
-		att_sp.yaw_rate_body = manual.yaw;
-		att_sp.timestamp = hrt_absolute_time();
-		
-		if (motor_test_mode) {
-			att_sp.roll_body = 0.0f;
-			att_sp.pitch_body = 0.0f;
-			att_sp.yaw_body = 0.0f;
-			att_sp.roll_rate_body = 0.0f;
-			att_sp.pitch_rate_body = 0.0f;
-			att_sp.yaw_rate_body = 0.0f;
-			att_sp.thrust = 0.1f;
-		} else {
-			att_sp.thrust = manual.throttle;
+
+		/** STEP 1: Define which input is the dominating control input */
+
+		if (state.flag_control_manual_enabled) {
+			/* manual inputs, from RC control or joystick */
+			att_sp.roll_body = manual.roll;
+			att_sp.pitch_body = manual.pitch;
+			att_sp.yaw_rate_body = manual.yaw;
+			att_sp.timestamp = hrt_absolute_time();
 			
+			if (motor_test_mode) {
+				att_sp.roll_body = 0.0f;
+				att_sp.pitch_body = 0.0f;
+				att_sp.yaw_body = 0.0f;
+				att_sp.roll_rate_body = 0.0f;
+				att_sp.pitch_rate_body = 0.0f;
+				att_sp.yaw_rate_body = 0.0f;
+				att_sp.thrust = 0.1f;
+			} else {
+				att_sp.thrust = manual.throttle;
+			}
+		} else if (state.flag_control_offboard_enabled) {
+			/* offboard inputs */
+
+			/* decide wether we want rate or position input */
 		}
 
-		multirotor_control_attitude(&att_sp, &att, &actuators);
+		/** STEP 2: Identify the controller setup to run and set up the inputs correctly */
+
+		/* run attitude controller */
+		if (state.flag_control_attitude_enabled) {
+			multirotor_control_attitude(&att_sp, &att, &actuators);
+		}
+
+		/* XXX could be also run in an independent loop */
+		if (state.flag_control_rates_enabled) {
+			multirotor_control_rates(&att_sp, &raw.gyro_rad_s, &actuators);
+		}
 
-		/* publish the result */
+		/* STEP 3: publish the result to the vehicle actuators */
 		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 2e8c61fd2..997aa0c10 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -213,7 +213,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 		// pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
 		// 	PID_MODE_DERIVATIV_SET, 154);
-		pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_d, p.yawrate_i, p.yawrate_awu,
+		pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu,
 			PID_MODE_DERIVATIV_SET, 155);
 		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
 			PID_MODE_DERIVATIV_SET, 156);
@@ -229,7 +229,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		parameters_update(&h, &p);
 		/* apply parameters */
 		// pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu);
-		pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_d, p.yawrate_i, p.yawrate_awu);
+		pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu);
 		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
 	}
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
new file mode 100644
index 000000000..8a3ac78cd
--- /dev/null
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -0,0 +1,256 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file multirotor_rate_control.c
+ * Implementation of rate controller
+ */
+
+#include "multirotor_rate_control.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <float.h>
+#include <math.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/param/param.h>
+#include <arch/board/up_hrt.h>
+
+// PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.08f); /* same on Flamewheel */
+// PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
+// PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
+// PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
+
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
+PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 8.0f);	/**< roughly < 500 deg/s limit */
+
+struct mc_rate_control_params {
+
+	float yawrate_p;
+	float yawrate_i;
+	float yawrate_awu;
+	float yawrate_lim;
+
+	float attrate_p;
+	float attrate_i;
+	float attrate_awu;
+	float attrate_lim;
+
+	float rate_lim;
+};
+
+struct mc_rate_control_param_handles {
+
+	param_t yawrate_p;
+	param_t yawrate_i;
+	param_t yawrate_awu;
+	param_t yawrate_lim;
+
+	param_t attrate_p;
+	param_t attrate_i;
+	param_t attrate_awu;
+	param_t attrate_lim;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+static int parameters_init(struct mc_rate_control_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p);
+
+
+static int parameters_init(struct mc_rate_control_param_handles *h)
+{
+	/* PID parameters */
+	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
+	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
+	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_awu 	= 	param_find("MC_ATTRATE_AWU");
+	h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
+
+	return OK;
+}
+
+static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p)
+{
+	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));
+
+	param_get(h->attrate_p, &(p->attrate_p));
+	param_get(h->attrate_i, &(p->attrate_i));
+	param_get(h->attrate_awu, &(p->attrate_awu));
+	param_get(h->attrate_lim, &(p->attrate_lim));
+
+	return OK;
+}
+
+void multirotor_control_rates(const struct vehicle_attitude_setpoint_s *rate_sp,
+	const float rates[], struct actuator_controls_s *actuators)
+{
+	static uint64_t last_run = 0;
+	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
+	static int motor_skip_counter = 0;
+
+	// static PID_t yaw_pos_controller;
+	static PID_t yaw_speed_controller;
+	static PID_t pitch_controller;
+	static PID_t roll_controller;
+
+	static struct mc_rate_control_params p;
+	static struct mc_rate_control_param_handles h;
+
+	static bool initialized = false;
+
+	/* initialize the pid controllers when the function is called for the first time */
+	if (initialized == false) {
+		parameters_init(&h);
+		parameters_update(&h, &p);
+
+		pid_init(&yaw_speed_controller, p.yawrate_p, 0, p.yawrate_i, p.yawrate_awu,
+			PID_MODE_DERIVATIV_SET, 155);
+		pid_init(&pitch_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu,
+			PID_MODE_DERIVATIV_SET, 156);
+		pid_init(&roll_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu,
+			PID_MODE_DERIVATIV_SET, 157);
+
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (motor_skip_counter % 250 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+		/* apply parameters */
+		pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu);
+		pid_set_parameters(&pitch_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
+		pid_set_parameters(&roll_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
+	}
+
+	/* calculate current control outputs */
+	
+	/* control pitch (forward) output */
+	float pitch_control = pid_calculate(&pitch_controller, rate_sp->pitch_rate_body,
+					rates[1], 0.0f, deltaT);
+	/* control roll (left/right) output */
+	float roll_control = pid_calculate(&roll_controller, rate_sp->roll_rate_body,
+					rates[0], 0.0f, deltaT);
+	/* control yaw rate */
+	float yaw_rate_control = pid_calculate(&yaw_speed_controller, rate_sp->yaw_rate_body, rates[2], 0.0f, deltaT);
+
+	/*
+	 * compensate the vertical loss of thrust
+	 * when thrust plane has an angle.
+	 * start with a factor of 1.0 (no change)
+	 */
+	float zcompensation = 1.0f;
+
+	// if (fabsf(att->roll) > 0.3f) {
+	// 	zcompensation *= 1.04675160154f;
+
+	// } else {
+	// 	zcompensation *= 1.0f / cosf(att->roll);
+	// }
+
+	// if (fabsf(att->pitch) > 0.3f) {
+	// 	zcompensation *= 1.04675160154f;
+
+	// } else {
+	// 	zcompensation *= 1.0f / cosf(att->pitch);
+	// }
+
+	float motor_thrust = 0.0f;
+
+	motor_thrust = rate_sp->thrust;
+
+	/* compensate thrust vector for roll / pitch contributions */
+	motor_thrust *= zcompensation;
+
+	/* limit yaw rate output */
+	if (yaw_rate_control > p.yawrate_lim) {
+		yaw_rate_control = p.yawrate_lim;
+		yaw_speed_controller.saturated = 1;
+	}
+
+	if (yaw_rate_control < -p.yawrate_lim) {
+		yaw_rate_control = -p.yawrate_lim;
+		yaw_speed_controller.saturated = 1;
+	}
+
+	if (pitch_control > p.attrate_lim) {
+		pitch_control = p.attrate_lim;
+		pitch_controller.saturated = 1;
+	}
+
+	if (pitch_control < -p.attrate_lim) {
+		pitch_control = -p.attrate_lim;
+		pitch_controller.saturated = 1;
+	}
+
+
+	if (roll_control > p.attrate_lim) {
+		roll_control = p.attrate_lim;
+		roll_controller.saturated = 1;
+	}
+
+	if (roll_control < -p.attrate_lim) {
+		roll_control = -p.attrate_lim;
+		roll_controller.saturated = 1;
+	}
+
+	actuators->control[0] = roll_control;
+	actuators->control[1] = pitch_control;
+	actuators->control[2] = yaw_rate_control;
+	actuators->control[3] = motor_thrust;
+
+	motor_skip_counter++;
+}
diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/apps/multirotor_att_control/multirotor_rate_control.h
new file mode 100644
index 000000000..6f34d99e7
--- /dev/null
+++ b/apps/multirotor_att_control/multirotor_rate_control.h
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file multirotor_attitude_control.h
+ * Attitude control for multi rotors.
+ */
+
+#ifndef MULTIROTOR_RATE_CONTROL_H_
+#define MULTIROTOR_RATE_CONTROL_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+
+void multirotor_control_rates(const struct vehicle_attitude_setpoint_s *rate_sp,
+	const float rates[], struct actuator_controls_s *actuators);
+
+#endif /* MULTIROTOR_RATE_CONTROL_H_ */
diff --git a/apps/px4/ground_estimator/ground_estimator.c b/apps/px4/ground_estimator/ground_estimator.c
index bbb0564ee..46f86a348 100644
--- a/apps/px4/ground_estimator/ground_estimator.c
+++ b/apps/px4/ground_estimator/ground_estimator.c
@@ -40,9 +40,14 @@
 #include <nuttx/config.h>
 #include <unistd.h>
 #include <stdio.h>
+#include <poll.h>
+#include <string.h>
+#include <stdlib.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/debug_key_value.h>
+
 
 static bool thread_should_exit = false;		/**< ground_estimator exit flag */
 static bool thread_running = false;		/**< ground_estimator status flag */
@@ -51,7 +56,7 @@ static int ground_estimator_task;				/**< Handle of ground_estimator task / thre
 /**
  * ground_estimator management function.
  */
-__EXPORT int ground_estimator_app_main(int argc, char *argv[]);
+__EXPORT int ground_estimator_main(int argc, char *argv[]);
 
 /**
  * Mainloop of ground_estimator.
@@ -69,17 +74,20 @@ int ground_estimator_thread_main(int argc, char *argv[]) {
 
 	/* subscribe to raw data */
 	int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
-	bool publishing = false;
 
 	/* advertise attitude */
-	struct debug_key_value_s dbg = { .key = "velx      ", .value = 0.0f };
-	orb_advert_t pub_att = orb_advertise(ORB_ID(debug_key_value), &dbg);
+	struct debug_key_value_s dbg = { .key = "posx", .value = 0.0f };
+	orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
 
 	float position[3] = {};
 	float velocity[3] = {};
 
 	uint64_t last_time = 0;
 
+	struct pollfd fds[] = {
+		{ .fd = sub_raw,   .events = POLLIN },
+	};
+
 	while (!thread_should_exit) {
 		
 		/* wait for sensor update */
@@ -94,16 +102,16 @@ int ground_estimator_thread_main(int argc, char *argv[]) {
 			struct sensor_combined_s s;
 			orb_copy(ORB_ID(sensor_combined), sub_raw, &s);
 
-			uint64_t dt = s.timestamp - last_time;
+			float dt = ((float)(s.timestamp - last_time)) / 1000000.0f;
 
 			/* Integration */
 			position[0] += velocity[0] * dt;
 			position[1] += velocity[1] * dt;
 			position[2] += velocity[2] * dt;
 
-			velocity[0] += velocity[0] * 0.01f + 0.99f * s.acceleration_m_s2[0] * dt;
-			velocity[1] += velocity[1] * 0.01f + 0.99f * s.acceleration_m_s2[1] * dt;
-			velocity[2] += velocity[2] * 0.01f + 0.99f * s.acceleration_m_s2[2] * dt;
+			velocity[0] += velocity[0] * 0.01f + 0.99f * s.accelerometer_m_s2[0] * dt;
+			velocity[1] += velocity[1] * 0.01f + 0.99f * s.accelerometer_m_s2[1] * dt;
+			velocity[2] += velocity[2] * 0.01f + 0.99f * s.accelerometer_m_s2[2] * dt;
 
 			dbg.value = position[0];
 
@@ -134,7 +142,7 @@ usage(const char *reason)
  * The actual stack size should be set in the call
  * to task_create().
  */
-int ground_estimator_app_main(int argc, char *argv[])
+int ground_estimator_main(int argc, char *argv[])
 {
 	if (argc < 1)
 		usage("missing command");
diff --git a/apps/uORB/topics/ardrone_motors_setpoint.h b/apps/uORB/topics/ardrone_motors_setpoint.h
index 54d81b706..d0cb0ad73 100644
--- a/apps/uORB/topics/ardrone_motors_setpoint.h
+++ b/apps/uORB/topics/ardrone_motors_setpoint.h
@@ -50,14 +50,14 @@
 
 struct ardrone_motors_setpoint_s
 {
-	uint16_t counter; //incremented by the writing thread everytime new data is stored
 	uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
 
-	uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
-	uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
-	uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
-	uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
-
+	uint8_t group;	/**< quadrotor group */
+	uint8_t mode;	/**< requested flight mode XXX define */
+	float p1;		/**< parameter 1: rate control: roll rate, att control: roll angle (in radians, NED) */
+	float p2;		/**< parameter 2: rate control: pitch rate, att control: pitch angle (in radians, NED) */
+	float p3;		/**< parameter 3: rate control: yaw rate, att control: yaw angle (in radians, NED) */
+	float p4;		/**< parameter 4: thrust, [0..1] */
 }; /**< AR.Drone low level motors */
 
  /**
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index 713a7a801..cfde2ab53 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -111,23 +111,24 @@ struct vehicle_status_s
 	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
-	commander_state_machine_t state_machine;	/**< Current flight state, main state machine */
-	enum VEHICLE_FLIGHT_MODE flight_mode;		/**< Current flight mode, as defined by mode switch */
-	enum VEHICLE_ATTITUDE_MODE attitute_mode;	/**< Current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
+	commander_state_machine_t state_machine;	/**< current flight state, main state machine */
+	enum VEHICLE_FLIGHT_MODE flight_mode;		/**< current flight mode, as defined by mode switch */
+	enum VEHICLE_ATTITUDE_MODE attitute_mode;	/**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
 
 	// uint8_t mode;
 
 
 	/* system flags - these represent the state predicates */
 
-	bool flag_system_armed;				/**< True is motors / actuators are armed */
+	bool flag_system_armed;				/**< true is motors / actuators are armed */
 	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
-	bool flag_hil_enabled;				/**< True if hardware in the loop simulation is enabled */
+	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
+	bool flag_hil_enabled;				/**< true if hardware in the loop simulation is enabled */
 
-	// bool flag_control_rates_enabled;			/**< true if rates are stabilized */
-	// bool flag_control_attitude_enabled;			*< true if attitude stabilization is mixed in 
-	// bool control_speed_enabled;			/**< true if speed (implies direction) is controlled */
-	// bool control_position_enabled;			/**< true if position is controlled */
+	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
+	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
+	bool flag_control_speed_enabled;		/**< true if speed (implies direction) is controlled */
+	bool flag_control_position_enabled;		/**< true if position is controlled */
 
 	bool flag_preflight_gyro_calibration;		/**< true if gyro calibration is requested */
 	bool flag_preflight_mag_calibration;			/**< true if mag calibration is requested */
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 0c83a5579..fab4d6a7e 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -78,7 +78,7 @@ CONFIGURED_APPS += px4/attitude_estimator_bm
 CONFIGURED_APPS += fixedwing_control
 CONFIGURED_APPS += position_estimator
 CONFIGURED_APPS += attitude_estimator_ekf
-CONFIGURED_APPS += ground_estimator
+CONFIGURED_APPS += px4/ground_estimator
 
 # Hacking tools
 #CONFIGURED_APPS += system/i2c