Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests

1 files changed, 61 insertions, 0 deletions

diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h
new file mode 100644
index 000000000..c3caa7598
--- /dev/null
+++ b/apps/multirotor_att_control/multirotor_attitude_control.h
@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   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_ATTITUDE_CONTROL_H_
+#define MULTIROTOR_ATTITUDE_CONTROL_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/rc_channels.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/ardrone_control.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_controls.h>
+
+void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
+		const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose);
+
+void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose);
+
+#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */