remove fw_att_control_vector

5 files changed, 0 insertions, 1133 deletions

diff --git a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp
deleted file mode 100644
index 16e60f3e0..000000000
--- a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp
+++ /dev/null
@@ -1,165 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 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 ecl_fw_att_control_vector.cpp
- *
- * Fixed wing attitude controller
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- *
- */
-
-#include <mathlib/mathlib.h>
-#include <systemlib/geo/geo.h>
-#include "ecl_fw_att_control_vector.h"
-
-ECL_FWAttControlVector::ECL_FWAttControlVector() :
-    _integral_error(0.0f, 0.0f),
-    _integral_max(1000.0f, 1000.0f),
-    _rates_demanded(0.0f, 0.0f, 0.0f),
-    _k_p(1.0f, 1.0f, 1.0f),
-    _k_d(1.0f, 1.0f, 1.0f),
-    _k_i(1.0f, 1.0f, 1.0f),
-    _integral_lock(false),
-    _p_airspeed_min(12.0f),
-    _p_airspeed_max(24.0f),
-    _p_tconst(0.1f),
-    _p_roll_ffd(1.0f),
-    _airspeed_enabled(false)
-    {
-
-    }
-
-/**
- *
- * @param F_des_in  Desired force vector in body frame (NED). Straight flight is (0 0 -1)',
- *                  banking hard right (1 0 -1)' and pitching down (1 0 -1)'.
- */
-void ECL_FWAttControlVector::control(float dt, float airspeed, float airspeed_scaling, const math::Dcm &R_nb, float roll, float pitch, float yaw, const math::Vector &F_des_in,
-                                const math::Vector &angular_rates,
-                                math::Vector &moment_des, float &thrust)
-{
-    if (!isfinite(airspeed) || !airspeed_enabled()) {
-        // If airspeed is not available or Inf/NaN, use the center
-        // of min / max 
-        airspeed = 0.5f * (_p_airspeed_min + _p_airspeed_max);
-    }
-     
-    math::Dcm R_bn(R_nb.transpose());
-    math::Matrix R_yaw_bn = math::Dcm(math::EulerAngles(0.0f, 0.0f, yaw)).transpose();
-
-    // Establish actuator signs and lift compensation
-    float lift_sign = (R_bn(3, 3) >= 0) ? 1.0f : -1.0f;
-
-    float lift_comp = CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min) * (R_nb(2,3) * R_nb(2,3)) / (R_nb(3,3) * sqrtf((R_nb(2,3) * R_nb(2,3)) + (R_nb(3,3) * R_nb(3,3)))));
-    //float lift_comp = fabsf((CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min)) * tanf(roll) * sinf(roll))) * _p_roll_ffd;
-    
-    float cy = cosf(yaw);
-    float sy = sinf(yaw);
-     
-    //math::Matrix RYaw = math::Dcm(cy,-sy,0.0f,sy,cy,0.0f,0.0f,0.0f,1.0f);
-    math::Vector z_b = math::Vector3(R_bn(0,2), R_bn(1,2), R_bn(2,2));
-
-    math::Vector3 F_des = R_yaw_bn * F_des_in;
-     
-    // desired thrust in body frame
-    // avoid division by zero
-    // compensates for thrust loss due to roll/pitch
-    if (F_des(2) >= 0.1f) {
-        thrust = F_des(2) / R_bn(2, 2);
-    } else {
-        F_des(2) = 0.1f;
-        thrust= F_des(2) / R_bn(2, 2);
-    }
-
-    math::Vector3 x_B_des;
-    math::Vector3 y_B_des;
-    math::Vector3 z_B_des;
-     
-    // desired body z axis
-    z_B_des = (F_des / F_des.norm());
-
-    // desired direction in world coordinates (yaw angle)
-    math::Vector3 x_C(cy, sy, 0.0f);
-    // desired body y axis
-    y_B_des = z_B_des.cross(x_C) / (z_B_des.cross(x_C)).norm();
-    // desired body x axis
-    x_B_des = y_B_des.cross(z_B_des);
-    // desired Rotation Matrix
-    math::Dcm R_des(x_B_des(0), x_B_des(1), x_B_des(2),
-                                   y_B_des(0), y_B_des(1), y_B_des(2),
-                                   z_B_des(0), z_B_des(1), z_B_des(2));
-     
-     
-    // Attitude Controller
-    // P controller
-     
-    // error rotation matrix
-    // operation executed in quaternion space to allow large differences
-    // XXX switch between operations based on difference,
-    // benchmark both options
-    math::Quaternion e_q = math::Quaternion(R_des) - math::Quaternion(R_bn);
-    // Renormalize
-    e_q = e_q / e_q.norm();
-    math::Matrix e_R = math::Dcm(e_q);
-    //small angles: math::Matrix e_R = (R_des.transpose() * R_bn - R_bn.transpose() * R_des) * 0.5f;
-     
-    // error rotation vector
-    math::Vector e_R_v(3);
-    e_R_v(0) = e_R(1,2);
-    e_R_v(1) = e_R(0,2);
-    e_R_v(2) = e_R(0,1);
-     
-     
-    // attitude integral error
-    math::Vector intError = math::Vector3(0.0f, 0.0f, 0.0f);
-    if (!_integral_lock) {
-
-        if (fabsf(_integral_error(0)) < _integral_max(0)) {
-            _integral_error(0) = _integral_error(0) + e_R_v(0) * dt;
-        }
-
-        if (fabsf(_integral_error(1)) < _integral_max(1)) {
-            _integral_error(1) = _integral_error(1) + e_R_v(1) * dt;
-        }
-        
-        intError(0) = _integral_error(0);
-        intError(1) = _integral_error(1);
-        intError(2) = 0.0f;
-    }
-
-    _rates_demanded = (e_R_v * _k_p(0) + angular_rates * _k_d(0) + intError * _k_i(0));
-    moment_des = _rates_demanded;
-}
diff --git a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h
deleted file mode 100644
index 40e4662a3..000000000
--- a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 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 ecl_fw_att_control_vector.cpp
- *
- * Fixed wing attitude controller
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- *
- */
-
-#include <mathlib/mathlib.h>
-
-class ECL_FWAttControlVector {
-
-public:
-	ECL_FWAttControlVector();
-	void control(float dt, float airspeed, float airspeed_scaling, const math::Dcm &R_nb, float roll, float pitch, float yaw, const math::Vector &F_des_in,
-                                const math::Vector &angular_rates,
-                                math::Vector &moment_des, float &thrust);
-
-	void set_imax(float integral_max) {
-		_integral_max(0) = integral_max;
-		_integral_max(1) = integral_max;
-	}
-
-	void set_tconst(float tconst) {
-		_p_tconst = tconst;
-	}
-
-	void set_k_p(float roll, float pitch, float yaw) {
-		_k_p(0) = roll;
-		_k_p(1) = pitch;
-		_k_p(2) = yaw;
-	}
-
-	void set_k_d(float roll, float pitch, float yaw) {
-		_k_d(0) = roll;
-		_k_d(1) = pitch;
-		_k_d(2) = yaw;
-	}
-
-	void set_k_i(float roll, float pitch, float yaw) {
-		_k_i(0) = roll;
-		_k_i(1) = pitch;
-		_k_i(2) = yaw;
-	}
-
-	void reset_integral() {
-		_integral_error(0) = 0.0f;
-		_integral_error(1) = 0.0f;
-	}
-
-	void lock_integral(bool lock) {
-		_integral_lock = lock;
-	}
-
-	bool airspeed_enabled() {
-		return _airspeed_enabled;
-	}
-
-	void enable_airspeed(bool airspeed) {
-		_airspeed_enabled = airspeed;
-	}
-
-	math::Vector3 get_rates_des() {
-		return _rates_demanded;
-	}
-
-protected:
-    math::Vector2f _integral_error;
-    math::Vector2f _integral_max;
-    math::Vector3 _rates_demanded;
-    math::Vector3 _k_p;
-    math::Vector3 _k_d;
-    math::Vector3 _k_i;
-    bool _integral_lock;
-    float _p_airspeed_min;
-    float _p_airspeed_max;
-    float _p_tconst;
-    float _p_roll_ffd;
-    bool _airspeed_enabled;
-};
diff --git a/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp b/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp
deleted file mode 100644
index c64f82e54..000000000
--- a/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp
+++ /dev/null
@@ -1,744 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Lorenz Meier
- *
- * 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 fw_att_control_vector_main.c
- * Implementation of a generic attitude controller based on classic orthogonal PIDs.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Please refer to the library files for the authors and acknowledgements of
- * the used control library functions.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_accel.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/airspeed.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_status.h>
-#include <uORB/topics/parameter_update.h>
-#include <systemlib/param/param.h>
-#include <systemlib/err.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-
-#include "ecl_fw_att_control_vector.h"
-
-/**
- * Fixedwing attitude control app start / stop handling function
- *
- * @ingroup apps
- */
-extern "C" __EXPORT int fw_att_control_vector_main(int argc, char *argv[]);
-
-class FixedwingAttitudeControlVector
-{
-public:
-	/**
-	 * Constructor
-	 */
-	FixedwingAttitudeControlVector();
-
-	/**
-	 * Destructor, also kills the sensors task.
-	 */
-	~FixedwingAttitudeControlVector();
-
-	/**
-	 * Start the sensors task.
-	 *
-	 * @return		OK on success.
-	 */
-	int		start();
-
-private:
-
-	bool		_task_should_exit;		/**< if true, sensor task should exit */
-	int		_control_task;			/**< task handle for sensor task */
-
-	int		_att_sub;			/**< vehicle attitude subscription */
-	int		_accel_sub;			/**< accelerometer subscription */
-	int		_att_sp_sub;			/**< vehicle attitude setpoint */
-	int		_attitude_sub;			/**< raw rc channels data subscription */
-	int		_airspeed_sub;			/**< airspeed subscription */
-	int		_vstatus_sub;			/**< vehicle status subscription */
-	int 		_params_sub;			/**< notification of parameter updates */
-	int 		_manual_control_sub;		/**< notification of manual control updates */
-	int		_arming_sub;			/**< arming status of outputs */
-
-	orb_advert_t	_rate_sp_pub;			/**< rate setpoint publication */
-	orb_advert_t	_actuators_0_pub;		/**< actuator control group 0 setpoint */
-
-	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
-	struct accel_report				_accel;			/**< body frame accelerations */
-	struct vehicle_attitude_setpoint_s		_att_sp;		/**< vehicle attitude setpoint */
-	struct manual_control_setpoint_s		_manual;		/**< r/c channel data */
-	struct airspeed_s				_airspeed;		/**< airspeed */
-	struct vehicle_status_s				_vstatus;		/**< vehicle status */
-	struct actuator_controls_s			_actuators;		/**< actuator control inputs */
-	struct actuator_armed_s				_arming;		/**< actuator arming status */
-
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-
-	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
-	bool		_airspeed_valid;		/**< flag if the airspeed measurement is valid */
-
-	struct {
-
-		float tconst;
-		float p_p;
-		float p_d;
-		float p_i;
-		float p_rmax_up;
-		float p_rmax_dn;
-		float p_imax;
-		float p_rll;
-		float r_p;
-		float r_d;
-		float r_i;
-		float r_imax;
-		float r_rmax;
-		float y_slip;
-		float y_int;
-		float y_damp;
-		float y_rll;
-		float y_imax;
-
-		float airspeed_min;
-		float airspeed_trim;
-		float airspeed_max;
-	}		_parameters;			/**< local copies of interesting parameters */
-
-	struct {
-
-		param_t tconst;
-		param_t p_p;
-		param_t p_d;
-		param_t p_i;
-		param_t p_rmax_up;
-		param_t p_rmax_dn;
-		param_t p_imax;
-		param_t p_rll;
-		param_t r_p;
-		param_t r_d;
-		param_t r_i;
-		param_t r_imax;
-		param_t r_rmax;
-		param_t y_slip;
-		param_t y_int;
-		param_t y_damp;
-		param_t y_rll;
-		param_t y_imax;
-
-		param_t airspeed_min;
-		param_t airspeed_trim;
-		param_t airspeed_max;
-	}		_parameter_handles;		/**< handles for interesting parameters */
-
-
-	ECL_FWAttControlVector	_att_control;
-
-
-	/**
-	 * Update our local parameter cache.
-	 */
-	int		parameters_update();
-
-	/**
-	 * Update control outputs
-	 *
-	 */
-	void		control_update();
-
-	/**
-	 * Check for changes in vehicle status.
-	 */
-	void		vehicle_status_poll();
-
-	/**
-	 * Check for airspeed updates.
-	 */
-	bool		vehicle_airspeed_poll();
-
-	/**
-	 * Check for accel updates.
-	 */
-	void		vehicle_accel_poll();
-
-	/**
-	 * Check for set triplet updates.
-	 */
-	void		vehicle_setpoint_poll();
-
-	/**
-	 * Check for arming status updates.
-	 */
-	void		arming_status_poll();
-
-	/**
-	 * Shim for calling task_main from task_create.
-	 */
-	static void	task_main_trampoline(int argc, char *argv[]);
-
-	/**
-	 * Main sensor collection task.
-	 */
-	void		task_main() __attribute__((noreturn));
-};
-
-namespace att_control
-{
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
-FixedwingAttitudeControlVector	*g_control;
-}
-
-FixedwingAttitudeControlVector::FixedwingAttitudeControlVector() :
-
-	_task_should_exit(false),
-	_control_task(-1),
-
-/* subscriptions */
-	_att_sub(-1),
-	_accel_sub(-1),
-	_airspeed_sub(-1),
-	_vstatus_sub(-1),
-	_params_sub(-1),
-	_manual_control_sub(-1),
-	_arming_sub(-1),
-
-/* publications */
-	_rate_sp_pub(-1),
-	_actuators_0_pub(-1),
-
-/* performance counters */
-	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
-/* states */
-	_setpoint_valid(false),
-	_airspeed_valid(false)
-{
-	// _parameter_handles.roll_p = param_find("FW_ROLL_P");
-	// _parameter_handles.pitch_p = param_find("FW_PITCH_P");
-	_parameter_handles.tconst = param_find("FW_TCONST");
-	_parameter_handles.p_p = param_find("FW_P_P");
-	_parameter_handles.p_d = param_find("FW_P_D");
-	_parameter_handles.p_i = param_find("FW_P_I");
-	_parameter_handles.p_rmax_up = param_find("FW_P_RMAX_UP");
-	_parameter_handles.p_rmax_dn = param_find("FW_P_RMAX_DN");
-	_parameter_handles.p_imax = param_find("FW_P_IMAX");
-	_parameter_handles.p_rll = param_find("FW_P_RLL");
-
-	_parameter_handles.r_p = param_find("FW_R_P");
-	_parameter_handles.r_d = param_find("FW_R_D");
-	_parameter_handles.r_i = param_find("FW_R_I");
-	_parameter_handles.r_imax = param_find("FW_R_IMAX");
-	_parameter_handles.r_rmax = param_find("FW_R_RMAX");
-
-	_parameter_handles.y_slip = param_find("FW_Y_SLIP");
-	_parameter_handles.y_int = param_find("FW_Y_INT");
-	_parameter_handles.y_damp = param_find("FW_Y_DAMP");
-	_parameter_handles.y_rll = param_find("FW_Y_RLL");
-	_parameter_handles.y_imax = param_find("FW_Y_IMAX");
-
-	_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
-	_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
-	_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
-
-	/* fetch initial parameter values */
-	parameters_update();
-}
-
-FixedwingAttitudeControlVector::~FixedwingAttitudeControlVector()
-{
-	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);
-	}
-
-	att_control::g_control = nullptr;
-}
-
-int
-FixedwingAttitudeControlVector::parameters_update()
-{
-
-	param_get(_parameter_handles.tconst, &(_parameters.tconst));
-	param_get(_parameter_handles.p_p, &(_parameters.p_p));
-	param_get(_parameter_handles.p_d, &(_parameters.p_d));
-	param_get(_parameter_handles.p_i, &(_parameters.p_i));
-	param_get(_parameter_handles.p_rmax_up, &(_parameters.p_rmax_up));
-	param_get(_parameter_handles.p_rmax_dn, &(_parameters.p_rmax_dn));
-	param_get(_parameter_handles.p_imax, &(_parameters.p_imax));
-	param_get(_parameter_handles.p_rll, &(_parameters.p_rll));
-
-	param_get(_parameter_handles.r_p, &(_parameters.r_p));
-	param_get(_parameter_handles.r_d, &(_parameters.r_d));
-	param_get(_parameter_handles.r_i, &(_parameters.r_i));
-	param_get(_parameter_handles.r_imax, &(_parameters.r_imax));
-	param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
-
-	param_get(_parameter_handles.y_slip, &(_parameters.y_slip));
-	param_get(_parameter_handles.y_int, &(_parameters.y_int));
-	param_get(_parameter_handles.y_damp, &(_parameters.y_damp));
-	param_get(_parameter_handles.y_rll, &(_parameters.y_rll));
-	param_get(_parameter_handles.y_imax, &(_parameters.y_imax));
-
-	param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
-	param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
-	param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
-
-	/* pitch control parameters */
-	_att_control.set_tconst(_parameters.tconst);
-	_att_control.set_k_p(math::radians(_parameters.r_p),
-			     math::radians(_parameters.p_p), 0.0f);
-	_att_control.set_k_d(math::radians(_parameters.r_p),
-			     math::radians(_parameters.p_p), 0.0f);
-	_att_control.set_k_i(math::radians(_parameters.r_i),
-			     math::radians(_parameters.p_i),
-			     math::radians(_parameters.y_int));
-
-	return OK;
-}
-
-void
-FixedwingAttitudeControlVector::vehicle_status_poll()
-{
-	bool vstatus_updated;
-
-	/* Check HIL state if vehicle status has changed */
-	orb_check(_vstatus_sub, &vstatus_updated);
-
-	if (vstatus_updated) {
-
-		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
-	}
-}
-
-bool
-FixedwingAttitudeControlVector::vehicle_airspeed_poll()
-{
-	/* check if there is a new position */
-	bool airspeed_updated;
-	orb_check(_airspeed_sub, &airspeed_updated);
-
-	if (airspeed_updated) {
-		orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
-		return true;
-	}
-
-	return false;
-}
-
-void
-FixedwingAttitudeControlVector::vehicle_accel_poll()
-{
-	/* check if there is a new position */
-	bool accel_updated;
-	orb_check(_accel_sub, &accel_updated);
-
-	if (accel_updated) {
-		orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
-	}
-}
-
-void
-FixedwingAttitudeControlVector::vehicle_setpoint_poll()
-{
-	/* check if there is a new setpoint */
-	bool att_sp_updated;
-	orb_check(_att_sp_sub, &att_sp_updated);
-
-	if (att_sp_updated) {
-		orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
-		_setpoint_valid = true;
-	}
-}
-
-void
-FixedwingAttitudeControlVector::arming_status_poll()
-{
-	/* check if there is a new setpoint */
-	bool arming_updated;
-	orb_check(_arming_sub, &arming_updated);
-
-	if (arming_updated) {
-		orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming);
-	}
-}
-
-void
-FixedwingAttitudeControlVector::task_main_trampoline(int argc, char *argv[])
-{
-	att_control::g_control->task_main();
-}
-
-void
-FixedwingAttitudeControlVector::task_main()
-{
-
-	/* inform about start */
-	warnx("Initializing..");
-	fflush(stdout);
-
-	/*
-	 * do subscriptions
-	 */
-	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
-	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
-	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
-	_params_sub = orb_subscribe(ORB_ID(parameter_update));
-	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
-
-	/* rate limit vehicle status updates to 5Hz */
-	orb_set_interval(_vstatus_sub, 200);
-	orb_set_interval(_att_sub, 100);
-
-	parameters_update();
-
-	/* initialize values of critical structs until first regular update */
-	_arming.armed = false;
-
-	/* get an initial update for all sensor and status data */
-	(void)vehicle_airspeed_poll();
-	vehicle_setpoint_poll();
-	vehicle_accel_poll();
-	vehicle_status_poll();
-	arming_status_poll();
-
-	/* wakeup source(s) */
-	struct pollfd fds[2];
-
-	/* Setup of loop */
-	fds[0].fd = _params_sub;
-	fds[0].events = POLLIN;
-	fds[1].fd = _att_sub;
-	fds[1].events = POLLIN;
-
-	while (!_task_should_exit) {
-
-		/* wait for up to 500ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
-
-		/* timed out - periodic check for _task_should_exit, etc. */
-		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);
-			continue;
-		}
-
-		perf_begin(_loop_perf);
-
-		/* only update parameters if they changed */
-		if (fds[0].revents & POLLIN) {
-			/* 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();
-		}
-
-		/* only run controller if attitude changed */
-		if (fds[1].revents & POLLIN) {
-
-
-			static uint64_t last_run = 0;
-			float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-			last_run = hrt_absolute_time();
-
-			/* guard against too large deltaT's */
-			if (deltaT > 1.0f)
-				deltaT = 0.01f;
-
-			/* load local copies */
-			orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
-
-			_airspeed_valid = vehicle_airspeed_poll();
-
-			vehicle_setpoint_poll();
-
-			vehicle_accel_poll();
-
-			/* check vehicle status for changes to publication state */
-			vehicle_status_poll();
-
-			/* check for arming status changes */
-			arming_status_poll();
-
-			/* lock integrator until armed */
-			bool lock_integrator;
-			if (_arming.armed) {
-				lock_integrator = false;
-			} else {
-				lock_integrator = true;
-			}
-
-			/* decide if in stabilized or full manual control */
-
-			if (_vstatus.state_machine == SYSTEM_STATE_MANUAL && !(_vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)
-				) {
-
-				_actuators.control[0] = _manual.roll;
-				_actuators.control[1] = _manual.pitch;
-				_actuators.control[2] = _manual.yaw;
-				_actuators.control[3] = _manual.throttle;
-				_actuators.control[4] = _manual.flaps;
-
-			} else if (_vstatus.state_machine == SYSTEM_STATE_AUTO ||
-				(_vstatus.state_machine == SYSTEM_STATE_STABILIZED) ||
-				(_vstatus.state_machine == SYSTEM_STATE_MANUAL && _vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)) {
-
-				/* scale from radians to normalized -1 .. 1 range */
-				const float actuator_scaling = 1.0f / (M_PI_F / 4.0f);
-
-				/* scale around tuning airspeed */
-
-				float airspeed;
-
-				/* if airspeed is smaller than min, the sensor is not giving good readings */
-				if (!_airspeed_valid ||
-					(_airspeed.indicated_airspeed_m_s < _parameters.airspeed_min) ||
-					!isfinite(_airspeed.indicated_airspeed_m_s)) {
-					airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) / 2.0f;
-				} else {
-					airspeed = _airspeed.indicated_airspeed_m_s;
-				}
-
-				float airspeed_scaling = _parameters.airspeed_trim / airspeed;
-
-				float roll_sp, pitch_sp;
-				float throttle_sp = 0.0f;
-
-				if (_vstatus.state_machine == SYSTEM_STATE_AUTO) {
-					roll_sp = _att_sp.roll_body;
-					pitch_sp = _att_sp.pitch_body;
-					throttle_sp = _att_sp.thrust;
-				} else if ((_vstatus.state_machine == SYSTEM_STATE_STABILIZED) ||
-					   (_vstatus.state_machine == SYSTEM_STATE_MANUAL && _vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)) {
-					
-					/*
-					 * Scale down roll and pitch as the setpoints are radians
-					 * and a typical remote can only do 45 degrees, the mapping is
-					 * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
-					 * 
-					 * With this mapping the stick angle is a 1:1 representation of
-					 * the commanded attitude. If more than 45 degrees are desired,
-					 * a scaling parameter can be applied to the remote.
-					 */
-					roll_sp = _manual.roll * 0.75f;
-					pitch_sp = _manual.pitch * 0.75f;
-					throttle_sp = _manual.throttle;
-					_actuators.control[4] = _manual.flaps;
-				}
-
-				math::Dcm R_nb(_att.R);
-
-				// Transform body frame forces to
-				// global frame
-				const math::Vector3 F_des(pitch_sp, roll_sp, throttle_sp);
-				const math::Vector3 angular_rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed);
-
-				// Return variables
-				math::Vector3 moments_des;
-				float thrust;
-
-				_att_control.control(deltaT, airspeed_scaling, airspeed, R_nb, _att.roll, _att.pitch, _att.yaw,
-					F_des, angular_rates, moments_des, thrust);
-
-				_actuators.control[0] = (isfinite(moments_des(0))) ? moments_des(0) * actuator_scaling : 0.0f;
-				_actuators.control[1] = (isfinite(moments_des(1))) ? moments_des(1) * actuator_scaling : 0.0f;
-				_actuators.control[2] = 0.0f;//(isfinite(moments_des(0))) ? moments_des(0) * actuator_scaling : 0.0f;
-
-				/* throttle passed through */
-				_actuators.control[3] = (isfinite(thrust)) ? thrust : 0.0f;
-
-				// warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown",
-				// 			airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1],
-				// 			_actuators.control[2], _actuators.control[3]);
-
-				/*
-				 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
-				 * only once available
-				 */
-				vehicle_rates_setpoint_s rates_sp;
-				math::Vector3 rates_des = _att_control.get_rates_des();
-				rates_sp.roll = rates_des(0);
-				rates_sp.pitch = rates_des(1);
-				rates_sp.yaw = 0.0f; // XXX rates_des(2);
-
-				rates_sp.timestamp = hrt_absolute_time();
-
-				if (_rate_sp_pub > 0) {
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_rates_setpoint), _actuators_0_pub, &rates_sp);
-
-				} else {
-					/* advertise and publish */
-					_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-				}
-
-				/* lazily publish the setpoint only once available */
-				_actuators.timestamp = hrt_absolute_time();
-
-				if (_actuators_0_pub > 0) {
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
-
-				} else {
-					/* advertise and publish */
-					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
-				}
-
-			}
-
-		}
-
-		perf_end(_loop_perf);
-	}
-
-	warnx("exiting.\n");
-
-	_control_task = -1;
-	_exit(0);
-}
-
-int
-FixedwingAttitudeControlVector::start()
-{
-	ASSERT(_control_task == -1);
-
-	/* start the task */
-	_control_task = task_spawn_cmd("fw_att_control",
-				       SCHED_DEFAULT,
-				       SCHED_PRIORITY_MAX - 5,
-				       2048,
-				       (main_t)&FixedwingAttitudeControlVector::task_main_trampoline,
-				       nullptr);
-
-	if (_control_task < 0) {
-		warn("task start failed");
-		return -errno;
-	}
-
-	return OK;
-}
-
-int fw_att_control_vector_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		errx(1, "usage: fw_att_control {start|stop|status}");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (att_control::g_control != nullptr)
-			errx(1, "already running");
-
-		att_control::g_control = new FixedwingAttitudeControlVector;
-
-		if (att_control::g_control == nullptr)
-			errx(1, "alloc failed");
-
-		if (OK != att_control::g_control->start()) {
-			delete att_control::g_control;
-			att_control::g_control = nullptr;
-			err(1, "start failed");
-		}
-
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		if (att_control::g_control == nullptr)
-			errx(1, "not running");
-
-		delete att_control::g_control;
-		att_control::g_control = nullptr;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (att_control::g_control) {
-			errx(0, "running");
-
-		} else {
-			errx(1, "not running");
-		}
-	}
-
-	warnx("unrecognized command");
-	return 1;
-}
diff --git a/src/modules/fw_att_control_vector/fw_att_control_vector_params.c b/src/modules/fw_att_control_vector/fw_att_control_vector_params.c
deleted file mode 100644
index 7e434c164..000000000
--- a/src/modules/fw_att_control_vector/fw_att_control_vector_params.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   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 fw_pos_control_l1_params.c
- *
- * Parameters defined by the L1 position control task
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <nuttx/config.h>
-
-#include <systemlib/param/param.h>
-
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-
-PARAM_DEFINE_FLOAT(FW_TCONST, 0.5f);
-PARAM_DEFINE_FLOAT(FW_P_P, 40.0f);
-PARAM_DEFINE_FLOAT(FW_P_D, 0.0f);
-PARAM_DEFINE_FLOAT(FW_P_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_P_RMAX_UP, 0.0f);
-PARAM_DEFINE_FLOAT(FW_P_RMAX_DN, 0.0f);
-PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f);
-PARAM_DEFINE_FLOAT(FW_P_RLL, 1.0f);
-PARAM_DEFINE_FLOAT(FW_R_P, 40.0f);
-PARAM_DEFINE_FLOAT(FW_R_D, 0.0f);
-PARAM_DEFINE_FLOAT(FW_R_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f);
-PARAM_DEFINE_FLOAT(FW_R_RMAX, 60);
-PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
-PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);
-PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f);
diff --git a/src/modules/fw_att_control_vector/module.mk b/src/modules/fw_att_control_vector/module.mk
deleted file mode 100644
index e78a71595..000000000
--- a/src/modules/fw_att_control_vector/module.mk
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 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.
-#
-############################################################################
-
-#
-# Multirotor attitude controller (vector based, no Euler singularities)
-#
-
-MODULE_COMMAND	= fw_att_control_vector
-
-SRCS		= fw_att_control_vector_main.cpp \
-		  ecl_fw_att_control_vector.cpp \
-		  fw_att_control_vector_params.c