Merge branch 'navigator_new' into navigator_new_vector, WIP

11 files changed, 532 insertions, 153 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 2eb58abd6..d7dbbebd4 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -45,39 +45,30 @@
 #include <geo/geo.h>
 #include <ecl/ecl.h>
 #include <mathlib/mathlib.h>
+#include <systemlib/err.h>
 
 ECL_PitchController::ECL_PitchController() :
 	_last_run(0),
+	_tc(0.1f),
+	_k_p(0.0f),
+	_k_i(0.0f),
+	_k_d(0.0f),
+	_k_ff(0.0f),
+	_integrator_max(0.0f),
+	_max_rate_pos(0.0f),
+	_max_rate_neg(0.0f),
+	_roll_ff(0.0f),
 	_last_output(0.0f),
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
-	_max_deflection_rad(math::radians(45.0f))
+	_bodyrate_setpoint(0.0f)
 {
 }
 
-float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitch_rate, float roll, float scaler,
-				   bool lock_integrator, float airspeed_min, float airspeed_max, float airspeed)
+float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
 {
-	/* get the usual dt estimate */
-	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
-	_last_run = ecl_absolute_time();
-	float dt = (float)dt_micros * 1e-6f;
-
-	/* lock integral for long intervals */
-	if (dt_micros > 500000)
-		lock_integrator = true;
 
-	float k_roll_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
-	float k_i_rate = _k_i * _tc;
-
-	/* input conditioning */
-	if (!isfinite(airspeed)) {
-		/* airspeed is NaN, +- INF or not available, pick center of band */
-		airspeed = 0.5f * (airspeed_min + airspeed_max);
-	} else if (airspeed < airspeed_min) {
-		airspeed = airspeed_min;
-	}
 
 	/* flying inverted (wings upside down) ? */
 	bool inverted = false;
@@ -105,29 +96,72 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc
 	if (inverted)
 		turn_offset = -turn_offset;
 
+	/* Calculate the error */
 	float pitch_error = pitch_setpoint - pitch;
-	/* rate setpoint from current error and time constant */
-	_rate_setpoint = pitch_error / _tc;
+
+	/*  Apply P controller: rate setpoint from current error and time constant */
+	_rate_setpoint =  pitch_error / _tc;
 
 	/* add turn offset */
 	_rate_setpoint += turn_offset;
 
-	_rate_error = _rate_setpoint - pitch_rate;
+	/* limit the rate */ //XXX: move to body angluar rates
+	if (_max_rate_pos > 0.01f && _max_rate_neg > 0.01f) {
+		if (_rate_setpoint > 0.0f) {
+			_rate_setpoint = (_rate_setpoint > _max_rate_pos) ? _max_rate_pos : _rate_setpoint;
+		} else {
+			_rate_setpoint = (_rate_setpoint < -_max_rate_neg) ? -_max_rate_neg : _rate_setpoint;
+		}
 
-	float ilimit_scaled = _integrator_max * scaler;
+	}
 
-	if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
+	return _rate_setpoint;
+}
 
-		float id = _rate_error * k_i_rate * dt * scaler;
+float ECL_PitchController::control_bodyrate(float roll, float pitch,
+		float pitch_rate, float yaw_rate,
+		float yaw_rate_setpoint,
+		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
+{
+	/* get the usual dt estimate */
+	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
+	_last_run = ecl_absolute_time();
+	float dt = (float)dt_micros * 1e-6f;
+
+	/* lock integral for long intervals */
+	if (dt_micros > 500000)
+		lock_integrator = true;
+
+//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
+	float k_ff = 0;
+
+	/* input conditioning */
+	if (!isfinite(airspeed)) {
+		/* airspeed is NaN, +- INF or not available, pick center of band */
+		airspeed = 0.5f * (airspeed_min + airspeed_max);
+	} else if (airspeed < airspeed_min) {
+		airspeed = airspeed_min;
+	}
+
+	/* Transform setpoint to body angular rates */
+	_bodyrate_setpoint = cosf(roll) * _rate_setpoint + cosf(pitch) * sinf(roll) * yaw_rate_setpoint; //jacobian
+
+	/* Transform estimation to body angular rates */
+	float pitch_bodyrate = cosf(roll) * pitch_rate + cosf(pitch) * sinf(roll) * yaw_rate; //jacobian
+
+	_rate_error = _bodyrate_setpoint - pitch_bodyrate;
+
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
+
+		float id = _rate_error * dt;
 
 		/*
-		 * anti-windup: do not allow integrator to increase into the
-		 * wrong direction if actuator is at limit
+		 * anti-windup: do not allow integrator to increase if actuator is at limit
 		 */
-		if (_last_output < -_max_deflection_rad) {
+		if (_last_output < -1.0f) {
 			/* only allow motion to center: increase value */
 			id = math::max(id, 0.0f);
-		} else if (_last_output > _max_deflection_rad) {
+		} else if (_last_output > 1.0f) {
 			/* only allow motion to center: decrease value */
 			id = math::min(id, 0.0f);
 		}
@@ -136,11 +170,14 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
-	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler;
-
-	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
+	//xxx: until start detection is available: integral part in control signal is limited here
+	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
+
+	/* Apply PI rate controller and store non-limited output */
+	_last_output = (_bodyrate_setpoint * _k_ff +_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
+//	warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
+//	warnx("roll: _last_output %.4f", (double)_last_output);
+	return math::constrain(_last_output, -1.0f, 1.0f);
 }
 
 void ECL_PitchController::reset_integrator()
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
index 1e6cec6a1..2ca0490fd 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -36,6 +36,7 @@
  * Definition of a simple orthogonal pitch PID controller.
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Acknowledgements:
  *
@@ -51,13 +52,18 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-class __EXPORT ECL_PitchController
+class __EXPORT ECL_PitchController //XXX: create controller superclass
 {
 public:
 	ECL_PitchController();
 
-	float control(float pitch_setpoint, float pitch, float pitch_rate, float roll, float scaler = 1.0f,
-		      bool lock_integrator = false, float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f));
+	float control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed);
+
+
+	float control_bodyrate(float roll, float pitch,
+			float pitch_rate, float yaw_rate,
+			float yaw_rate_setpoint,
+			float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f), float scaler = 1.0f, bool lock_integrator = false);
 
 	void reset_integrator();
 
@@ -67,21 +73,30 @@ public:
 	void set_k_p(float k_p) {
 		_k_p = k_p;
 	}
+
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
 	void set_k_d(float k_d) {
 		_k_d = k_d;
 	}
+
+	void set_k_ff(float k_ff) {
+		_k_ff = k_ff;
+	}
+
 	void set_integrator_max(float max) {
 		_integrator_max = max;
 	}
+
 	void set_max_rate_pos(float max_rate_pos) {
 		_max_rate_pos = max_rate_pos;
 	}
+
 	void set_max_rate_neg(float max_rate_neg) {
 		_max_rate_neg = max_rate_neg;
 	}
+
 	void set_roll_ff(float roll_ff) {
 		_roll_ff = roll_ff;
 	}
@@ -94,6 +109,10 @@ public:
 		return _rate_setpoint;
 	}
 
+	float get_desired_bodyrate() {
+		return _bodyrate_setpoint;
+	}
+
 private:
 
 	uint64_t _last_run;
@@ -101,6 +120,7 @@ private:
 	float _k_p;
 	float _k_i;
 	float _k_d;
+	float _k_ff;
 	float _integrator_max;
 	float _max_rate_pos;
 	float _max_rate_neg;
@@ -109,7 +129,7 @@ private:
 	float _integrator;
 	float _rate_error;
 	float _rate_setpoint;
-	float _max_deflection_rad;
+	float _bodyrate_setpoint;
 };
 
 #endif // ECL_PITCH_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 0b1ffa7a4..bd6c9da71 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -45,21 +45,47 @@
 #include <geo/geo.h>
 #include <ecl/ecl.h>
 #include <mathlib/mathlib.h>
+#include <systemlib/err.h>
 
 ECL_RollController::ECL_RollController() :
 	_last_run(0),
 	_tc(0.1f),
+	_k_p(0.0f),
+	_k_i(0.0f),
+	_k_d(0.0f),
+	_k_ff(0.0f),
+	_integrator_max(0.0f),
+	_max_rate(0.0f),
 	_last_output(0.0f),
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
-	_max_deflection_rad(math::radians(45.0f))
+	_bodyrate_setpoint(0.0f)
 {
+}
+
+float ECL_RollController::control_attitude(float roll_setpoint, float roll)
+{
+
+	/* Calculate error */
+	float roll_error = roll_setpoint - roll;
+
+	/* Apply P controller */
+	_rate_setpoint = roll_error / _tc;
+
+	/* limit the rate */ //XXX: move to body angluar rates
+	if (_max_rate > 0.01f) {
+		_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
+		_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
+	}
 
+	return _rate_setpoint;
 }
 
-float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate,
-				  float scaler, bool lock_integrator, float airspeed_min, float airspeed_max, float airspeed)
+float ECL_RollController::control_bodyrate(float pitch,
+		float roll_rate, float yaw_rate,
+		float yaw_rate_setpoint,
+		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
 {
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
@@ -70,10 +96,11 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
-	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
-	float k_i_rate = _k_i * _tc;
+//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
+	float k_ff = 0; //xxx: param
 
 	/* input conditioning */
+//	warnx("airspeed pre %.4f", (double)airspeed);
 	if (!isfinite(airspeed)) {
 		/* airspeed is NaN, +- INF or not available, pick center of band */
 		airspeed = 0.5f * (airspeed_min + airspeed_max);
@@ -81,32 +108,27 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
 		airspeed = airspeed_min;
 	}
 
-	float roll_error = roll_setpoint - roll;
-	_rate_setpoint = roll_error / _tc;
-
-	/* limit the rate */
-	if (_max_rate > 0.01f) {
-		_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
-		_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
-	}
 
-	_rate_error = _rate_setpoint - roll_rate;
+	/* Transform setpoint to body angular rates */
+	_bodyrate_setpoint = _rate_setpoint - sinf(pitch) * yaw_rate_setpoint; //jacobian
 
+	/* Transform estimation to body angular rates */
+	float roll_bodyrate = roll_rate - sinf(pitch) * yaw_rate; //jacobian
 
-	float ilimit_scaled = _integrator_max * scaler;
+	/* Calculate body angular rate error */
+	_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
 
-	if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
 
-		float id = _rate_error * k_i_rate * dt * scaler;
+		float id = _rate_error * dt;
 
 		/*
-		 * anti-windup: do not allow integrator to increase into the
-		 * wrong direction if actuator is at limit
+		 * anti-windup: do not allow integrator to increase if actuator is at limit
 		 */
-		if (_last_output < -_max_deflection_rad) {
+		if (_last_output < -1.0f) {
 			/* only allow motion to center: increase value */
 			id = math::max(id, 0.0f);
-		} else if (_last_output > _max_deflection_rad) {
+		} else if (_last_output > 1.0f) {
 			/* only allow motion to center: decrease value */
 			id = math::min(id, 0.0f);
 		}
@@ -115,11 +137,14 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
-	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
+	//xxx: until start detection is available: integral part in control signal is limited here
+	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
+	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
+
+	/* Apply PI rate controller and store non-limited output */
+	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
 
-	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
+	return math::constrain(_last_output, -1.0f, 1.0f);
 }
 
 void ECL_RollController::reset_integrator()
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
index 0d4ea9333..efc7b8944 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -36,6 +36,7 @@
  * Definition of a simple orthogonal roll PID controller.
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Acknowledgements:
  *
@@ -51,13 +52,17 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-class __EXPORT ECL_RollController
+class __EXPORT ECL_RollController //XXX: create controller superclass
 {
 public:
 	ECL_RollController();
 
-	float control(float roll_setpoint, float roll, float roll_rate,
-		      float scaler = 1.0f, bool lock_integrator = false, float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f));
+	float control_attitude(float roll_setpoint, float roll);
+
+	float control_bodyrate(float pitch,
+			float roll_rate, float yaw_rate,
+			float yaw_rate_setpoint,
+			float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f), float scaler = 1.0f, bool lock_integrator = false);
 
 	void reset_integrator();
 
@@ -66,18 +71,27 @@ public:
 			_tc = time_constant;
 		}
 	}
+
 	void set_k_p(float k_p) {
 		_k_p = k_p;
 	}
+
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
+
 	void set_k_d(float k_d) {
 		_k_d = k_d;
 	}
+
+	void set_k_ff(float k_ff) {
+		_k_ff = k_ff;
+	}
+
 	void set_integrator_max(float max) {
 		_integrator_max = max;
 	}
+
 	void set_max_rate(float max_rate) {
 		_max_rate = max_rate;
 	}
@@ -90,19 +104,24 @@ public:
 		return _rate_setpoint;
 	}
 
+	float get_desired_bodyrate() {
+		return _bodyrate_setpoint;
+	}
+
 private:
 	uint64_t _last_run;
 	float _tc;
 	float _k_p;
 	float _k_i;
 	float _k_d;
+	float _k_ff;
 	float _integrator_max;
 	float _max_rate;
 	float _last_output;
 	float _integrator;
 	float _rate_error;
 	float _rate_setpoint;
-	float _max_deflection_rad;
+	float _bodyrate_setpoint;
 };
 
 #endif // ECL_ROLL_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index b786acf24..7c366aaf2 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -44,29 +44,127 @@
 #include <geo/geo.h>
 #include <ecl/ecl.h>
 #include <mathlib/mathlib.h>
+#include <systemlib/err.h>
 
 ECL_YawController::ECL_YawController() :
 	_last_run(0),
-	_last_error(0.0f),
+	_k_p(0.0f),
+	_k_i(0.0f),
+	_k_d(0.0f),
+	_k_ff(0.0f),
+	_integrator_max(0.0f),
+	_max_rate(0.0f),
+	_roll_ff(0.0f),
 	_last_output(0.0f),
-	_last_rate_hp_out(0.0f),
-	_last_rate_hp_in(0.0f),
-	_k_d_last(0.0f),
-	_integrator(0.0f)
+	_integrator(0.0f),
+	_rate_error(0.0f),
+	_rate_setpoint(0.0f),
+	_bodyrate_setpoint(0.0f),
+	_coordinated_min_speed(1.0f)
 {
+}
+
+float ECL_YawController::control_attitude(float roll, float pitch,
+		float speed_body_u, float speed_body_v, float speed_body_w,
+		float roll_rate_setpoint, float pitch_rate_setpoint)
+{
+//	static int counter = 0;
+	/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
+	_rate_setpoint = 0.0f;
+	if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) {
+		float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
+		if(denumerator != 0.0f) { //XXX: floating point comparison
+			_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
+//			warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
+		}
+
+//		if(counter % 20 == 0) {
+//			warnx("denumerator: %.4f, speed_body_u: %.4f, speed_body_w: %.4f, cosf(roll): %.4f, cosf(pitch): %.4f, sinf(pitch): %.4f", (double)denumerator, (double)speed_body_u, (double)speed_body_w, (double)cosf(roll), (double)cosf(pitch), (double)sinf(pitch));
+//		}
+	}
+
+	/* limit the rate */ //XXX: move to body angluar rates
+	if (_max_rate > 0.01f) {
+	_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
+	_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
+	}
+
 
+//	counter++;
+
+	if(!isfinite(_rate_setpoint)){
+		warnx("yaw rate sepoint not finite");
+		_rate_setpoint = 0.0f;
+	}
+
+	return _rate_setpoint;
 }
 
-float ECL_YawController::control(float roll, float yaw_rate, float accel_y, float scaler, bool lock_integrator,
-				 float airspeed_min, float airspeed_max, float aspeed)
+float ECL_YawController::control_bodyrate(float roll, float pitch,
+		float pitch_rate, float yaw_rate,
+		float pitch_rate_setpoint,
+		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
 {
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
+	float dt = (float)dt_micros * 1e-6f;
+
+	/* lock integral for long intervals */
+	if (dt_micros > 500000)
+		lock_integrator = true;
+
+
+//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
+	float k_ff = 0;
+
+
+	/* input conditioning */
+	if (!isfinite(airspeed)) {
+	/* airspeed is NaN, +- INF or not available, pick center of band */
+	airspeed = 0.5f * (airspeed_min + airspeed_max);
+	} else if (airspeed < airspeed_min) {
+	airspeed = airspeed_min;
+	}
+
+
+	/* Transform setpoint to body angular rates */
+	_bodyrate_setpoint = -sinf(roll) * pitch_rate_setpoint + cosf(roll)*cosf(pitch) * _rate_setpoint; //jacobian
+
+	/* Transform estimation to body angular rates */
+	float yaw_bodyrate = -sinf(roll) * pitch_rate + cosf(roll)*cosf(pitch) * yaw_rate; //jacobian
+
+	/* Calculate body angular rate error */
+	_rate_error = _bodyrate_setpoint - yaw_bodyrate; //body angular rate error
+
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
+
+	float id = _rate_error * dt;
+
+	/*
+	 * anti-windup: do not allow integrator to increase if actuator is at limit
+	 */
+	if (_last_output < -1.0f) {
+		/* only allow motion to center: increase value */
+		id = math::max(id, 0.0f);
+	} else if (_last_output > 1.0f) {
+		/* only allow motion to center: decrease value */
+		id = math::min(id, 0.0f);
+	}
+
+	_integrator += id;
+	}
+
+	/* integrator limit */
+	//xxx: until start detection is available: integral part in control signal is limited here
+	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
+
+	/* Apply PI rate controller and store non-limited output */
+	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
+	//warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
 
-	float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
 
-	return 0.0f;
+	return math::constrain(_last_output, -1.0f, 1.0f);
 }
 
 void ECL_YawController::reset_integrator()
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index 66b227918..f15645fcf 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -35,6 +35,15 @@
  * @file ecl_yaw_controller.h
  * Definition of a simple orthogonal coordinated turn yaw PID controller.
  *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
  */
 #ifndef ECL_YAW_CONTROLLER_H
 #define ECL_YAW_CONTROLLER_H
@@ -42,47 +51,82 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-class __EXPORT ECL_YawController
+class __EXPORT ECL_YawController //XXX: create controller superclass
 {
 public:
 	ECL_YawController();
 
-	float control(float roll, float yaw_rate, float accel_y, float scaler = 1.0f, bool lock_integrator = false,
-		      float airspeed_min = 0, float airspeed_max = 0, float aspeed = (0.0f / 0.0f));
+	float control_attitude(float roll, float pitch,
+			float speed_body_u, float speed_body_v, float speed_body_w,
+			float roll_rate_setpoint, float pitch_rate_setpoint);
+
+	float control_bodyrate(	float roll, float pitch,
+			float pitch_rate, float yaw_rate,
+			float pitch_rate_setpoint,
+			float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator);
 
 	void reset_integrator();
 
-	void set_k_side(float k_a) {
-		_k_side = k_a;
+	void set_k_p(float k_p) {
+			_k_p = k_p;
 	}
+
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
+
 	void set_k_d(float k_d) {
 		_k_d = k_d;
 	}
-	void set_k_roll_ff(float k_roll_ff) {
-		_k_roll_ff = k_roll_ff;
+
+	void set_k_ff(float k_ff) {
+		_k_ff = k_ff;
 	}
+
 	void set_integrator_max(float max) {
 		_integrator_max = max;
 	}
 
+	void set_max_rate(float max_rate) {
+		_max_rate = max_rate;
+	}
+
+	void set_k_roll_ff(float roll_ff) {
+		_roll_ff = roll_ff;
+	}
+
+	void set_coordinated_min_speed(float coordinated_min_speed) {
+		_coordinated_min_speed = coordinated_min_speed;
+	}
+
+
+	float get_rate_error() {
+		return _rate_error;
+	}
+
+	float get_desired_rate() {
+		return _rate_setpoint;
+	}
+
+	float get_desired_bodyrate() {
+		return _bodyrate_setpoint;
+	}
+
 private:
 	uint64_t _last_run;
-
-	float _k_side;
+	float _k_p;
 	float _k_i;
 	float _k_d;
-	float _k_roll_ff;
+	float _k_ff;
 	float _integrator_max;
-
-	float _last_error;
+	float _max_rate;
+	float  _roll_ff;
 	float _last_output;
-	float _last_rate_hp_out;
-	float _last_rate_hp_in;
-	float _k_d_last;
 	float _integrator;
+	float _rate_error;
+	float _rate_setpoint;
+	float _bodyrate_setpoint;
+	float _coordinated_min_speed;
 
 };
 
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp
index fb7ed486d..3b68a0a4e 100644
--- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp
+++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp
@@ -70,7 +70,7 @@ float ECL_L1_Pos_Controller::target_bearing()
 float ECL_L1_Pos_Controller::switch_distance(float wp_radius)
 {
 	/* following [2], switching on L1 distance */
-	return math::max(wp_radius, _L1_distance);
+	return math::min(wp_radius, _L1_distance);
 }
 
 bool ECL_L1_Pos_Controller::reached_loiter_target(void)
@@ -280,7 +280,7 @@ void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector<2> &vector_A, con
 	 */
 
 	// XXX check switch over
-	if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) |
+	if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) ||
 		(lateral_accel_sp_center > lateral_accel_sp_circle && loiter_direction < 0 && xtrack_err_circle > 0.0f)) {
 		_lateral_accel = lateral_accel_sp_center;
 		_circle_mode = false;
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index d7f350e5c..0f28bccad 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -2,6 +2,7 @@
 
 #include "tecs.h"
 #include <ecl/ecl.h>
+#include <systemlib/err.h>
 
 using namespace math;
 
@@ -168,64 +169,88 @@ void TECS::_update_speed_demand(void)
 	// calculate velocity rate limits based on physical performance limits
 	// provision to use a different rate limit if bad descent or underspeed condition exists
 	// Use 50% of maximum energy rate to allow margin for total energy contgroller
-	float velRateMax;
-	float velRateMin;
-
-	if ((_badDescent) || (_underspeed)) {
-		velRateMax = 0.5f * _STEdot_max / _integ5_state;
-		velRateMin = 0.5f * _STEdot_min / _integ5_state;
-
-	} else {
-		velRateMax = 0.5f * _STEdot_max / _integ5_state;
-		velRateMin = 0.5f * _STEdot_min / _integ5_state;
-	}
-
-	// Apply rate limit
-	if ((_TAS_dem - _TAS_dem_adj) > (velRateMax * 0.1f)) {
-		_TAS_dem_adj = _TAS_dem_adj + velRateMax * 0.1f;
-		_TAS_rate_dem = velRateMax;
-
-	} else if ((_TAS_dem - _TAS_dem_adj) < (velRateMin * 0.1f)) {
-		_TAS_dem_adj = _TAS_dem_adj + velRateMin * 0.1f;
-		_TAS_rate_dem = velRateMin;
-
-	} else {
-		_TAS_dem_adj = _TAS_dem;
-		_TAS_rate_dem = (_TAS_dem - _TAS_dem_last) / 0.1f;
-	}
+//	float velRateMax;
+//	float velRateMin;
+//
+//	if ((_badDescent) || (_underspeed)) {
+//		velRateMax = 0.5f * _STEdot_max / _integ5_state;
+//		velRateMin = 0.5f * _STEdot_min / _integ5_state;
+//
+//	} else {
+//		velRateMax = 0.5f * _STEdot_max / _integ5_state;
+//		velRateMin = 0.5f * _STEdot_min / _integ5_state;
+//	}
+//
+//	// Apply rate limit
+//	if ((_TAS_dem - _TAS_dem_adj) > (velRateMax * 0.1f)) {
+//		_TAS_dem_adj = _TAS_dem_adj + velRateMax * 0.1f;
+//		_TAS_rate_dem = velRateMax;
+//
+//	} else if ((_TAS_dem - _TAS_dem_adj) < (velRateMin * 0.1f)) {
+//		_TAS_dem_adj = _TAS_dem_adj + velRateMin * 0.1f;
+//		_TAS_rate_dem = velRateMin;
+//
+//	} else {
+//		_TAS_dem_adj = _TAS_dem;
+//
+//
+//	_TAS_rate_dem = (_TAS_dem - _TAS_dem_last) / 0.1f;
+//	}
+
+	_TAS_dem_adj = _TAS_dem;
+	_TAS_rate_dem = (_TAS_dem_adj-_integ5_state)*_speedrate_p; //xxx: using a p loop for now
 
 	// Constrain speed demand again to protect against bad values on initialisation.
 	_TAS_dem_adj = constrain(_TAS_dem_adj, _TASmin, _TASmax);
-	_TAS_dem_last = _TAS_dem;
+//	_TAS_dem_last = _TAS_dem;
+
+//	warnx("_TAS_rate_dem: %.1f, _TAS_dem_adj %.1f, _integ5_state %.1f, _badDescent %u , _underspeed %u, velRateMin %.1f",
+//			(double)_TAS_rate_dem, (double)_TAS_dem_adj, (double)_integ5_state, _badDescent, _underspeed, velRateMin);
+//	warnx("_TAS_rate_dem: %.1f, _TAS_dem_adj %.1f, _integ5_state %.1f,  _badDescent %u , _underspeed %u",
+//			(double)_TAS_rate_dem, (double)_TAS_dem_adj, (double)_integ5_state,  _badDescent , _underspeed);
 }
 
-void TECS::_update_height_demand(float demand)
+void TECS::_update_height_demand(float demand, float state)
 {
-	// Apply 2 point moving average to demanded height
-	// This is required because height demand is only updated at 5Hz
-	_hgt_dem = 0.5f * (demand + _hgt_dem_in_old);
-	_hgt_dem_in_old = _hgt_dem;
-
-	// printf("hgt_dem: %6.2f hgt_dem_last: %6.2f max_climb_rate: %6.2f\n", _hgt_dem, _hgt_dem_prev,
-	// 	_maxClimbRate);
+//	// Apply 2 point moving average to demanded height
+//	// This is required because height demand is only updated at 5Hz
+//	_hgt_dem = 0.5f * (demand + _hgt_dem_in_old);
+//	_hgt_dem_in_old = _hgt_dem;
+//
+//	// printf("hgt_dem: %6.2f hgt_dem_last: %6.2f max_climb_rate: %6.2f\n", _hgt_dem, _hgt_dem_prev,
+//	// 	_maxClimbRate);
+//
+//	// Limit height rate of change
+//	if ((_hgt_dem - _hgt_dem_prev) > (_maxClimbRate * 0.1f)) {
+//		_hgt_dem = _hgt_dem_prev + _maxClimbRate * 0.1f;
+//
+//	} else if ((_hgt_dem - _hgt_dem_prev) < (-_maxSinkRate * 0.1f)) {
+//		_hgt_dem = _hgt_dem_prev - _maxSinkRate * 0.1f;
+//	}
+//
+//	_hgt_dem_prev = _hgt_dem;
+//
+//	// Apply first order lag to height demand
+//	_hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
+//	_hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
+//	_hgt_dem_adj_last = _hgt_dem_adj;
+//
+//	// printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
+//	// 	_hgt_rate_dem);
+
+	_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
+	_hgt_dem_adj_last = _hgt_dem_adj;
 
+	_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p;
 	// Limit height rate of change
-	if ((_hgt_dem - _hgt_dem_prev) > (_maxClimbRate * 0.1f)) {
-		_hgt_dem = _hgt_dem_prev + _maxClimbRate * 0.1f;
+	if (_hgt_rate_dem > _maxClimbRate) {
+		_hgt_rate_dem = _maxClimbRate;
 
-	} else if ((_hgt_dem - _hgt_dem_prev) < (-_maxSinkRate * 0.1f)) {
-		_hgt_dem = _hgt_dem_prev - _maxSinkRate * 0.1f;
+	} else if (_hgt_rate_dem < -_maxSinkRate) {
+		_hgt_rate_dem = -_maxSinkRate;
 	}
 
-	_hgt_dem_prev = _hgt_dem;
-
-	// Apply first order lag to height demand
-	_hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
-	_hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
-	_hgt_dem_adj_last = _hgt_dem_adj;
-
-	// printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
-	// 	_hgt_rate_dem);
+	//warnx("_hgt_rate_dem: %.4f, _hgt_dem_adj %.4f", _hgt_rate_dem, _hgt_dem_adj);
 }
 
 void TECS::_detect_underspeed(void)
@@ -285,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 		// additional component which scales with (1/cos(bank angle) - 1) to compensate for induced
 		// drag increase during turns.
 		float cosPhi = sqrtf((rotMat(0, 1) * rotMat(0, 1)) + (rotMat(1, 1) * rotMat(1, 1)));
-		STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi * cosPhi , 0.1f, 1.0f) - 1.0f);
+		STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f);
 
 		if (STEdot_dem >= 0) {
 			ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr);
@@ -353,14 +378,18 @@ void TECS::_detect_bad_descent(void)
 	// 1) Underspeed protection not active
 	// 2) Specific total energy error > 0
 	// This mode will produce an undulating speed and height response as it cuts in and out but will prevent the aircraft from descending into the ground if an unachievable speed demand is set
-	float STEdot = _SPEdot + _SKEdot;
-
-	if ((!_underspeed && (_STE_error > 200.0f) && (STEdot < 0.0f) && (_throttle_dem >= _THRmaxf * 0.9f)) || (_badDescent && !_underspeed && (_STE_error > 0.0f))) {
-		_badDescent = true;
-
-	} else {
-		_badDescent = false;
-	}
+//	float STEdot = _SPEdot + _SKEdot;
+//
+//	if ((!_underspeed && (_STE_error > 200.0f) && (STEdot < 0.0f) && (_throttle_dem >= _THRmaxf * 0.9f)) || (_badDescent && !_underspeed && (_STE_error > 0.0f))) {
+//
+//		warnx("bad descent detected: _STE_error %.1f, STEdot %.1f, _throttle_dem %.1f", _STE_error, STEdot, _throttle_dem);
+//		_badDescent = true;
+//
+//	} else {
+//		_badDescent = false;
+//	}
+
+	_badDescent = false;
 }
 
 void TECS::_update_pitch(void)
@@ -404,10 +433,18 @@ void TECS::_update_pitch(void)
 	// Apply max and min values for integrator state that will allow for no more than
 	// 5deg of saturation. This allows for some pitch variation due to gusts before the
 	// integrator is clipped. Otherwise the effectiveness of the integrator will be reduced in turbulence
+	// During climbout/takeoff, bias the demanded pitch angle so that zero speed error produces a pitch angle
+	// demand equal to the minimum value (which is )set by the mission plan during this mode). Otherwise the
+	// integrator has to catch up before the nose can be raised to reduce speed during climbout.
 	float gainInv = (_integ5_state * _timeConst * CONSTANTS_ONE_G);
 	float temp = SEB_error + SEBdot_error * _ptchDamp + SEBdot_dem * _timeConst;
+	if (_climbOutDem)
+	{
+		temp += _PITCHminf * gainInv;
+	}
 	_integ7_state = constrain(_integ7_state, (gainInv * (_PITCHminf - 0.0783f)) - temp, (gainInv * (_PITCHmaxf + 0.0783f)) - temp);
 
+
 	// Calculate pitch demand from specific energy balance signals
 	_pitch_dem_unc = (temp + _integ7_state) / gainInv;
 
@@ -500,7 +537,7 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
 	_update_speed_demand();
 
 	// Calculate the height demand
-	_update_height_demand(hgt_dem);
+	_update_height_demand(hgt_dem, baro_altitude);
 
 	// Detect underspeed condition
 	_detect_underspeed();
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 68832a039..d1ebacda1 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -180,6 +180,14 @@ public:
 		_indicated_airspeed_max = airspeed;
 	}
 
+	void set_heightrate_p(float heightrate_p) {
+		_heightrate_p = heightrate_p;
+	}
+
+	void set_speedrate_p(float speedrate_p) {
+		_speedrate_p = speedrate_p;
+	}
+
 private:
 	// Last time update_50Hz was called
 	uint64_t _update_50hz_last_usec;
@@ -203,6 +211,8 @@ private:
 	float _vertAccLim;
 	float _rollComp;
 	float _spdWeight;
+	float _heightrate_p;
+	float _speedrate_p;
 
 	// throttle demand in the range from 0.0 to 1.0
 	float _throttle_dem;
@@ -329,7 +339,7 @@ private:
 	void _update_speed_demand(void);
 
 	// Update the demanded height
-	void _update_height_demand(float demand);
+	void _update_height_demand(float demand, float state);
 
 	// Detect an underspeed condition
 	void _detect_underspeed(void);
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 43105fdba..f64bfb41a 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -387,6 +387,45 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d
 	return return_value;
 }
 
+__EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
+	                                          double lat_next, double lon_next, float alt_next,
+	                                          float *dist_xy, float *dist_z)
+{
+	double current_x_rad = lat_next / 180.0 * M_PI;
+	double current_y_rad = lon_next / 180.0 * M_PI;
+	double x_rad = lat_now / 180.0 * M_PI;
+	double y_rad = lon_now / 180.0 * M_PI;
+
+	double d_lat = x_rad - current_x_rad;
+	double d_lon = y_rad - current_y_rad;
+
+	double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad);
+	double c = 2 * atan2(sqrt(a), sqrt(1 - a));
+
+	float dxy = CONSTANTS_RADIUS_OF_EARTH * c;
+	float dz = alt_now - alt_next;
+
+	*dist_xy = fabsf(dxy);
+	*dist_z = fabsf(dz);
+
+	return sqrtf(dxy * dxy + dz * dz);
+}
+
+
+__EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
+	                                           float x_next, float y_next, float z_next,
+	                                           float *dist_xy, float *dist_z)
+{
+	float dx = x_now - x_next;
+	float dy = y_now - y_next;
+	float dz = z_now - z_next;
+
+	*dist_xy = sqrtf(dx * dx + dy * dy);
+	*dist_z = fabsf(dz);
+
+	return sqrtf(dx * dx + dy * dy + dz * dz);
+}
+
 __EXPORT float _wrap_pi(float bearing)
 {
 	/* value is inf or NaN */
@@ -465,4 +504,26 @@ __EXPORT float _wrap_360(float bearing)
 	return bearing;
 }
 
+__EXPORT bool inside_geofence(const struct vehicle_global_position_s *vehicle, const struct fence_s *fence)
+{
+
+	/* Adaptation of algorithm originally presented as
+	 * PNPOLY - Point Inclusion in Polygon Test
+	 * W. Randolph Franklin (WRF) */
+
+	unsigned int i, j, vertices = fence->count;
+	bool c = false;
+	double lat = vehicle->lat / 1e7d;
+	double lon = vehicle->lon / 1e7d;
+
+	// skip vertex 0 (return point)
+	for (i = 0, j = vertices - 1; i < vertices; j = i++)
+		if (((fence->vertices[i].lon) >= lon != (fence->vertices[j].lon >= lon)) &&
+		    (lat <= (fence->vertices[j].lat - fence->vertices[i].lat) * (lon - fence->vertices[i].lon) /
+		     (fence->vertices[j].lon - fence->vertices[i].lon) + fence->vertices[i].lat))
+			c = !c;
+	return c;
+}
+
+
 
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 123ff80f1..5f92e14cf 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -47,6 +47,9 @@
 
 #pragma once
 
+#include "uORB/topics/fence.h"
+#include "uORB/topics/vehicle_global_position.h"
+
 __BEGIN_DECLS
 
 #include <stdbool.h>
@@ -121,9 +124,34 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
 __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
 		float radius, float arc_start_bearing, float arc_sweep);
 
+/*
+ * Calculate distance in global frame
+ */
+__EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
+	                                          double lat_next, double lon_next, float alt_next,
+	                                          float *dist_xy, float *dist_z);
+
+/*
+ * Calculate distance in local frame (NED)
+ */
+__EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
+	                                           float x_next, float y_next, float z_next,
+	                                           float *dist_xy, float *dist_z);
+
 __EXPORT float _wrap_180(float bearing);
 __EXPORT float _wrap_360(float bearing);
 __EXPORT float _wrap_pi(float bearing);
 __EXPORT float _wrap_2pi(float bearing);
 
+/**
+ * Return whether craft is inside geofence.
+ *
+ * Calculate whether point is inside arbitrary polygon
+ * @param craft pointer craft coordinates
+ * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
+ * @return true: craft is inside fence, false:craft is outside fence
+ */
+__EXPORT bool inside_geofence(const struct vehicle_global_position_s *craft, const struct fence_s *fence);
+
+
 __END_DECLS