removed files which should not be in here

7 files changed, 0 insertions, 801 deletions

diff --git a/ROMFS/px4fmu_common/init.d/13000_quadshot b/ROMFS/px4fmu_common/init.d/13000_quadshot
deleted file mode 100644
index 8ee306a38..000000000
--- a/ROMFS/px4fmu_common/init.d/13000_quadshot
+++ /dev/null
@@ -1,14 +0,0 @@
-#!nsh
-#
-# Generic quadshot configuration file
-#
-# Roman Bapst <romanbapst@yahoo.de>
-#
-
-sh /etc/init.d/rc.mc_defaults
-
-set MIXER FMU_quadshot
-
-set PWM_OUTPUTS 1234
-set PWM_MIN 1070
-set PWM_MAX 2000
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/Roman_mavlink_stream_conf b/ROMFS/px4fmu_common/init.d/Roman_mavlink_stream_conf
deleted file mode 100644
index d26e4a372..000000000
--- a/ROMFS/px4fmu_common/init.d/Roman_mavlink_stream_conf
+++ /dev/null
@@ -1,12 +0,0 @@
-#!nsh
-# Configure stream for Mavlink instance on TELEM2 because it is annoying always removing the SDcard
-#
-#usleep 100000
-#mavlink stream -d /dev/ttyS2 -s ATTITUDE_CONTROLS -r 50
-#usleep 100000
-#mavlink stream -d /dev/ttyS2 -s RC_CHANNELS_RAW -r 50
-#usleep 100000
-#mavlink stream -d /dev/ttyS2 -s VFR_HUD -r 50
-usleep 100000
-mavlink stream -d /dev/ttyS2 -s MANUAL_CONTROL -r 50
-echo "Added additional streams on TELEM2"
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
deleted file mode 100644
index 23ade6d78..000000000
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ /dev/null
@@ -1,15 +0,0 @@
-#!nsh
-#
-# Standard apps for vtol:
-# att & pos estimator, att & pos control.
-#
-
-attitude_estimator_ekf start
-#ekf_att_pos_estimator start
-position_estimator_inav start
-
-vtol_att_control start
-mc_att_control start
-mc_pos_control start
-fw_att_control start
-fw_pos_control_l1 start
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
deleted file mode 100644
index f0ea9add0..000000000
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ /dev/null
@@ -1,63 +0,0 @@
-#!nsh
-
-set VEHICLE_TYPE vtol
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#Default parameters for MC
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_FF 0.5
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_P 0.1
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_FF 0.5
-	param set MPC_TILTMAX_AIR 45.0
-	param set MPC_TILTMAX_LND 15.0
-	param set MPC_LAND_SPEED 1.0
-
-	param set PE_VELNE_NOISE 0.5
-	param set PE_VELD_NOISE 0.7
-	param set PE_POSNE_NOISE 0.5
-	param set PE_POSD_NOISE 1.0
-
-	param set NAV_ACCEPT_RAD 2.0
-	
-	#
-	# Default parameters for FW
-	#
-	param set NAV_LAND_ALT 90
-	param set NAV_RTL_ALT 100
-	param set NAV_RTL_LAND_T -1
-	param set NAV_ACCEPT_RAD 50
-	param set FW_T_HRATE_P 0.01
-	param set FW_T_RLL2THR 15
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 5
-fi
-
-set PWM_RATE 400
-set PWM_DISARMED 900
-set PWM_MIN 1075
-set PWM_MAX 2000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quadshot.mix b/ROMFS/px4fmu_common/mixers/FMU_quadshot.mix
deleted file mode 100644
index b077ff30a..000000000
--- a/ROMFS/px4fmu_common/mixers/FMU_quadshot.mix
+++ /dev/null
@@ -1,15 +0,0 @@
-#!nsh
-#Quadshot mixer for PX4FMU
-#===========================
-R: 4v 10000 10000 10000 0
-
-#mixer for the elevons
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0   7500   7500      0 -10000  10000
-S: 1 1   8000   8000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 1 0   7500   7500      0 -10000  10000
-S: 1 1  -8000  -8000      0 -10000  10000
diff --git a/src/modules/vtol_att_control/module.mk b/src/modules/vtol_att_control/module.mk
deleted file mode 100644
index c349c2340..000000000
--- a/src/modules/vtol_att_control/module.mk
+++ /dev/null
@@ -1,40 +0,0 @@
-############################################################################
-#
-#   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
-# 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.
-#
-############################################################################
-
-#
-# VTOL attitude controller
-#
-
-MODULE_COMMAND	= vtol_att_control
-
-SRCS		= vtol_att_control_main.cpp
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
deleted file mode 100644
index 38fa4eec1..000000000
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ /dev/null
@@ -1,642 +0,0 @@
-/****************************************************************************
- *
- *   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
- * 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 VTOL_att_control_main.cpp
- * Implementation of an attitude controller for VTOL airframes. This module receives data
- * from both the fixed wing- and the multicopter attitude controllers and processes it.
- * It computes the correct actuator controls depending on which mode the vehicle is in (hover,forward-
- * flight or transition). It also publishes the resulting controls on the actuator controls topics.
- *
- * @author Roman Bapst 		<bapstr@ethz.ch>
- * @author Lorenz Meier 	<lm@inf.ethz.ch>
- * @author Thomas Gubler	<thomasgubler@gmail.com>
- *
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.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 <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vtol_vehicle_status.h>
-#include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/parameter_update.h>
-#include <systemlib/param/param.h>
-#include <systemlib/err.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/circuit_breaker.h>
-#include <lib/mathlib/mathlib.h>
-#include <lib/geo/geo.h>
-
-#include "drivers/drv_pwm_output.h"
-#include <nuttx/fs/nxffs.h>
-#include <nuttx/fs/ioctl.h>
-
-#include <nuttx/mtd.h>
-
-#include <fcntl.h>
-
-
-extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);
-
-class VtolAttitudeControl
-{
-public:
-
-	VtolAttitudeControl();
-	~VtolAttitudeControl();
-
-	int start();	/* start the task and return OK on success */
-
-
-private:
-//******************flags & handlers******************************************************
-	bool _task_should_exit;
-	int _control_task;		//task handle for VTOL attitude controller
-
-	/* handlers for subscriptions */
-	int		_v_att_sub;				//vehicle attitude subscription
-	int		_v_att_sp_sub;			//vehicle attitude setpoint subscription
-	int		_v_rates_sp_sub;		//vehicle rates setpoint subscription
-	int		_v_control_mode_sub;	//vehicle control mode subscription
-	int		_params_sub;			//parameter updates subscription
-	int		_manual_control_sp_sub;	//manual control setpoint subscription
-	int		_armed_sub;				//arming status subscription
-
-	int 	_actuator_inputs_mc;	//topic on which the mc_att_controller publishes actuator inputs
-	int 	_actuator_inputs_fw;	//topic on which the fw_att_controller publishes actuator inputs
-
-	//handlers for publishers
-	orb_advert_t	_actuators_0_pub;		//input for the mixer (roll,pitch,yaw,thrust)
-	orb_advert_t 	_actuators_1_pub;
-	orb_advert_t	_vtol_vehicle_status_pub;
-//*******************data containers***********************************************************
-	struct vehicle_attitude_s			_v_att;				//vehicle attitude
-	struct vehicle_attitude_setpoint_s	_v_att_sp;			//vehicle attitude setpoint
-	struct vehicle_rates_setpoint_s		_v_rates_sp;		//vehicle rates setpoint
-	struct manual_control_setpoint_s	_manual_control_sp; //manual control setpoint
-	struct vehicle_control_mode_s		_v_control_mode;	//vehicle control mode
-	struct vtol_vehicle_status_s 		_vtol_vehicle_status;
-	struct actuator_controls_s			_actuators_out_0;	//actuator controls going to the mc mixer
-	struct actuator_controls_s			_actuators_out_1;	//actuator controls going to the fw mixer (used for elevons)
-	struct actuator_controls_s			_actuators_mc_in;	//actuator controls from mc_att_control
-	struct actuator_controls_s			_actuators_fw_in;	//actuator controls from fw_att_control
-	struct actuator_armed_s				_armed;				//actuator arming status
-
-	struct {
-		float min_pwm_mc;	//pwm value for idle in mc mode
-	} _params;
-
-	struct {
-		param_t min_pwm_mc;
-	} _params_handles;
-
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-
-	/* for multicopters it is usual to have a non-zero idle speed of the engines
-	 * for fixed wings we want to have an idle speed of zero since we do not want
-	 * to waste energy when gliding. */
-	bool flag_idle_mc;		//false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
-
-//*****************Member functions***********************************************************************
-
-	void 		task_main();	//main task
-	static void	task_main_trampoline(int argc, char *argv[]);	//Shim for calling task_main from task_create.
-
-	void		vehicle_control_mode_poll();	//Check for changes in vehicle control mode.
-	void		vehicle_manual_poll();			//Check for changes in manual inputs.
-	void		arming_status_poll();			//Check for arming status updates.
-	void 		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
-	void 		actuator_controls_fw_poll();	//Check for changes in fw_attitude_control output
-	void 		parameters_update_poll();		//Check if parameters have changed
-	int 		parameters_update();			//Update local paraemter cache
-	void  		fill_mc_att_control_output();	//write mc_att_control results to actuator message
-	void		fill_fw_att_control_output();	//write fw_att_control results to actuator message
-	void 		set_idle_fw();
-	void 		set_idle_mc();
-};
-
-namespace VTOL_att_control
-{
-VtolAttitudeControl *g_control;
-}
-
-/**
-* Constructor
-*/
-VtolAttitudeControl::VtolAttitudeControl() :
-	_task_should_exit(false),
-	_control_task(-1),
-
-	//init subscription handlers
-	_v_att_sub(-1),
-	_v_att_sp_sub(-1),
-	_v_control_mode_sub(-1),
-	_params_sub(-1),
-	_manual_control_sp_sub(-1),
-	_armed_sub(-1),
-
-	//init publication handlers
-	_actuators_0_pub(-1),
-	_actuators_1_pub(-1),
-	_vtol_vehicle_status_pub(-1),
-
-	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
-{
-
-	flag_idle_mc = true;	/*assume we always start in mc mode for a VTOL airframe */
-
-	memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
-	_vtol_vehicle_status.vtol_in_rw_mode = true;	/* start vtol in rotary wing mode*/
-	memset(&_v_att, 0, sizeof(_v_att));
-	memset(&_v_att_sp, 0, sizeof(_v_att_sp));
-	memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
-	memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
-	memset(&_v_control_mode, 0, sizeof(_v_control_mode));
-	memset(&_vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
-	memset(&_actuators_out_0, 0, sizeof(_actuators_out_0));
-	memset(&_actuators_out_1, 0, sizeof(_actuators_out_1));
-	memset(&_actuators_mc_in, 0, sizeof(_actuators_mc_in));
-	memset(&_actuators_fw_in, 0, sizeof(_actuators_fw_in));
-	memset(&_armed, 0, sizeof(_armed));
-
-	_params_handles.min_pwm_mc = param_find("PWM_MIN");
-
-	/* fetch initial parameter values */
-	parameters_update();
-}
-
-/**
-* Destructor
-*/
-VtolAttitudeControl::~VtolAttitudeControl()
-{
-	if (_control_task != -1) {
-		/* task wakes up every 100ms or so at the longest */
-		_task_should_exit = true;
-
-		/* wait for a second for the task to quit at our request */
-		unsigned i = 0;
-
-		do {
-			/* wait 20ms */
-			usleep(20000);
-
-			/* if we have given up, kill it */
-			if (++i > 50) {
-				task_delete(_control_task);
-				break;
-			}
-		} while (_control_task != -1);
-	}
-
-	VTOL_att_control::g_control = nullptr;
-}
-
-/**
-* Check for changes in vehicle control mode.
-*/
-void VtolAttitudeControl::vehicle_control_mode_poll()
-{
-	bool updated;
-
-	/* Check if vehicle control mode has changed */
-	orb_check(_v_control_mode_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
-	}
-}
-
-/**
-* Check for changes in manual inputs.
-*/
-void VtolAttitudeControl::vehicle_manual_poll()
-{
-	bool updated;
-
-	/* get pilots inputs */
-	orb_check(_manual_control_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
-	}
-}
-/**
-* Check for arming status updates.
-*/
-void VtolAttitudeControl::arming_status_poll()
-{
-	/* check if there is a new setpoint */
-	bool updated;
-	orb_check(_armed_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
-	}
-}
-
-/**
-* Check for inputs from mc attitude controller.
-*/
-void VtolAttitudeControl::actuator_controls_mc_poll()
-{
-	bool updated;
-	orb_check(_actuator_inputs_mc, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc , &_actuators_mc_in);
-	}
-}
-
-/**
-* Check for inputs from fw attitude controller.
-*/
-void VtolAttitudeControl::actuator_controls_fw_poll()
-{
-	bool updated;
-	orb_check(_actuator_inputs_fw, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw , &_actuators_fw_in);
-	}
-}
-
-/**
-* Check for parameter updates.
-*/
-void
-VtolAttitudeControl::parameters_update_poll()
-{
-	bool updated;
-
-	/* Check if parameters have changed */
-	orb_check(_params_sub, &updated);
-
-	if (updated) {
-		struct parameter_update_s param_update;
-		orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
-		parameters_update();
-	}
-}
-
-/**
-* Update parameters.
-*/
-int
-VtolAttitudeControl::parameters_update()
-{
-	/* idle pwm */
-	float v;
-	param_get(_params_handles.min_pwm_mc, &v);
-	_params.min_pwm_mc = v;
-
-	return OK;
-}
-
-/**
-* Prepare message to acutators with data from mc attitude controller.
-*/
-void VtolAttitudeControl::fill_mc_att_control_output()
-{
-	_actuators_out_0.control[0] = _actuators_mc_in.control[0];
-	_actuators_out_0.control[1] = _actuators_mc_in.control[1];
-	_actuators_out_0.control[2] = _actuators_mc_in.control[2];
-	_actuators_out_0.control[3] = _actuators_mc_in.control[3];
-	//set neutral position for elevons
-	_actuators_out_1.control[0] = 0;	//roll elevon
-	_actuators_out_1.control[1] = 0;	//pitch elevon
-}
-
-/**
-* Prepare message to acutators with data from fw attitude controller.
-*/
-void VtolAttitudeControl::fill_fw_att_control_output()
-{
-	/*For the first test in fw mode, only use engines for thrust!!!*/
-	_actuators_out_0.control[0] = 0;
-	_actuators_out_0.control[1] = 0;
-	_actuators_out_0.control[2] = 0;
-	_actuators_out_0.control[3] = _actuators_fw_in.control[3];
-	/*controls for the elevons */
-	_actuators_out_1.control[0] = _actuators_fw_in.control[0];	/*roll elevon*/
-	_actuators_out_1.control[1] = _actuators_fw_in.control[1];	/*pitch elevon */
-}
-
-/**
-* Adjust idle speed for fw mode.
-*/
-void VtolAttitudeControl::set_idle_fw()
-{
-	int ret;
-	char *dev = PWM_OUTPUT_DEVICE_PATH;
-	int fd = open(dev, 0);
-
-	if (fd < 0) {err(1, "can't open %s", dev);}
-
-	unsigned pwm_value = PWM_LOWEST_MIN;
-	struct pwm_output_values pwm_values;
-	memset(&pwm_values, 0, sizeof(pwm_values));
-
-	for (unsigned i = 0; i < 4; i++) {
-
-		pwm_values.values[i] = pwm_value;
-		pwm_values.channel_count++;
-	}
-
-	ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
-
-	if (ret != OK) {errx(ret, "failed setting min values");}
-
-	close(fd);
-}
-
-/**
-* Adjust idle speed for mc mode.
-*/
-void VtolAttitudeControl::set_idle_mc()
-{
-	int ret;
-	unsigned servo_count;
-	char *dev = PWM_OUTPUT_DEVICE_PATH;
-	int fd = open(dev, 0);
-
-	if (fd < 0) {err(1, "can't open %s", dev);}
-
-	ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
-	unsigned pwm_value = 1100;
-	struct pwm_output_values pwm_values;
-	memset(&pwm_values, 0, sizeof(pwm_values));
-
-	for (unsigned i = 0; i < 4; i++) {
-		pwm_values.values[i] = pwm_value;
-		pwm_values.channel_count++;
-	}
-
-	ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
-
-	if (ret != OK) {errx(ret, "failed setting min values");}
-
-	close(fd);
-}
-
-void
-VtolAttitudeControl::task_main_trampoline(int argc, char *argv[])
-{
-	VTOL_att_control::g_control->task_main();
-}
-
-void VtolAttitudeControl::task_main()
-{
-	warnx("started");
-	fflush(stdout);
-
-	/* do subscriptions */
-	_v_att_sp_sub          = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	_v_rates_sp_sub        = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
-	_v_att_sub             = orb_subscribe(ORB_ID(vehicle_attitude));
-	_v_control_mode_sub    = orb_subscribe(ORB_ID(vehicle_control_mode));
-	_params_sub            = orb_subscribe(ORB_ID(parameter_update));
-	_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	_armed_sub             = orb_subscribe(ORB_ID(actuator_armed));
-
-	_actuator_inputs_mc    = orb_subscribe(ORB_ID(actuator_controls_virtual_mc));
-	_actuator_inputs_fw    = orb_subscribe(ORB_ID(actuator_controls_virtual_fw));
-
-	parameters_update();  /*initialize parameter cache/*
-
-	/* wakeup source*/
-	struct pollfd fds[3];	/*input_mc, input_fw, parameters*/
-
-	fds[0].fd     = _actuator_inputs_mc;
-	fds[0].events = POLLIN;
-	fds[1].fd     = _actuator_inputs_fw;
-	fds[1].events = POLLIN;
-	fds[2].fd     = _params_sub;
-	fds[2].events = POLLIN;
-
-	while (!_task_should_exit) {
-		/*Advertise/Publish vtol vehicle status*/
-		if (_vtol_vehicle_status_pub > 0) {
-			orb_publish(ORB_ID(vtol_vehicle_status), _vtol_vehicle_status_pub, &_vtol_vehicle_status);
-
-		} else {
-			_vtol_vehicle_status.timestamp = hrt_absolute_time();
-			_vtol_vehicle_status_pub = orb_advertise(ORB_ID(vtol_vehicle_status), &_vtol_vehicle_status);
-		}
-
-		/* wait for up to 100ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
-
-
-		/* timed out - periodic check for _task_should_exit */
-		if (pret == 0) {
-			continue;
-		}
-
-		/* this is undesirable but not much we can do - might want to flag unhappy status */
-		if (pret < 0) {
-			warn("poll error %d, %d", pret, errno);
-			/* sleep a bit before next try */
-			usleep(100000);
-			continue;
-		}
-
-		if (fds[2].revents & POLLIN) {	//parameters were updated, read them now
-			/* read from param to clear updated flag */
-			struct parameter_update_s update;
-			orb_copy(ORB_ID(parameter_update), _params_sub, &update);
-
-			/* update parameters from storage */
-			parameters_update();
-		}
-
-		vehicle_control_mode_poll();	//Check for changes in vehicle control mode.
-		vehicle_manual_poll();			//Check for changes in manual inputs.
-		arming_status_poll();			//Check for arming status updates.
-		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
-		actuator_controls_fw_poll();	//Check for changes in fw_attitude_control output
-		parameters_update_poll();
-
-		if (_manual_control_sp.aux1 <= 0.0f) {		/* vehicle is in mc mode */
-			_vtol_vehicle_status.vtol_in_rw_mode = true;
-
-			if (!flag_idle_mc) {	/* we want to adjust idle speed for mc mode */
-				set_idle_mc();
-				flag_idle_mc = true;
-			}
-
-			/* got data from mc_att_controller */
-			if (fds[0].revents & POLLIN) {
-				vehicle_manual_poll();	/* update remote input */
-				orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
-
-				fill_mc_att_control_output();
-
-				if (_actuators_0_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
-
-				} else {
-					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
-				}
-
-				if (_actuators_1_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
-
-				} else {
-					_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
-				}
-			}
-		}
-
-		if (_manual_control_sp.aux1 >= 0.0f) {			/* vehicle is in fw mode */
-			_vtol_vehicle_status.vtol_in_rw_mode = false;
-
-			if (flag_idle_mc) {	/* we want to adjust idle speed for fixed wing mode */
-				set_idle_fw();
-				flag_idle_mc = false;
-			}
-
-			if (fds[1].revents & POLLIN) {		/* got data from fw_att_controller */
-				orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
-				vehicle_manual_poll();	//update remote input
-
-				fill_fw_att_control_output();
-
-				if (_actuators_0_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
-
-				} else {
-					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
-				}
-
-				if (_actuators_1_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
-
-				} else {
-					_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
-				}
-			}
-		}
-	}
-
-	warnx("exit");
-	_control_task = -1;
-	_exit(0);
-}
-
-int
-VtolAttitudeControl::start()
-{
-	ASSERT(_control_task == -1);
-
-	/* start the task */
-	_control_task = task_spawn_cmd("vtol_att_control",
-				       SCHED_DEFAULT,
-				       SCHED_PRIORITY_MAX - 10,
-				       2048,
-				       (main_t)&VtolAttitudeControl::task_main_trampoline,
-				       nullptr);
-
-	if (_control_task < 0) {
-		warn("task start failed");
-		return -errno;
-	}
-
-	return OK;
-}
-
-
-int vtol_att_control_main(int argc, char *argv[])
-{
-	if (argc < 1) {
-		errx(1, "usage: vtol_att_control {start|stop|status}");
-	}
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (VTOL_att_control::g_control != nullptr) {
-			errx(1, "already running");
-		}
-
-		VTOL_att_control::g_control = new VtolAttitudeControl;
-
-		if (VTOL_att_control::g_control == nullptr) {
-			errx(1, "alloc failed");
-		}
-
-		if (OK != VTOL_att_control::g_control->start()) {
-			delete VTOL_att_control::g_control;
-			VTOL_att_control::g_control = nullptr;
-			err(1, "start failed");
-		}
-
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		if (VTOL_att_control::g_control == nullptr) {
-			errx(1, "not running");
-		}
-
-		delete VTOL_att_control::g_control;
-		VTOL_att_control::g_control = nullptr;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (VTOL_att_control::g_control) {
-			errx(0, "running");
-
-		} else {
-			errx(1, "not running");
-		}
-	}
-
-	warnx("unrecognized command");
-	return 1;
-}