mc_att_control_vector renamed to mc_att_control

1 files changed, 736 insertions, 0 deletions

diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
new file mode 100644
index 000000000..93974c742
--- /dev/null
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -0,0 +1,736 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Author: 	Tobias Naegeli <naegelit@student.ethz.ch>
+ *   			Lorenz Meier <lm@inf.ethz.ch>
+ *   			Anton Babushkin <anton.babushkin@me.com>
+ *
+ * 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 mc_att_control_main.c
+ * Implementation of a multicopter attitude controller based on desired rotation matrix.
+ */
+
+#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 <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/actuator_armed.h>
+#include <uORB/topics/parameter_update.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <mathlib/mathlib.h>
+#include <lib/geo/geo.h>
+
+/**
+ * Multicopter attitude control app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
+
+#define MIN_TAKEOFF_THROTTLE	0.3f
+#define YAW_DEADZONE	0.01f
+
+class MulticopterAttitudeControl
+{
+public:
+	/**
+	 * Constructor
+	 */
+	MulticopterAttitudeControl();
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~MulticopterAttitudeControl();
+
+	/**
+	 * 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		_att_sp_sub;			/**< vehicle attitude setpoint */
+	int		_control_mode_sub;		/**< vehicle control mode subscription */
+	int 	_params_sub;			/**< notification of parameter updates */
+	int 	_manual_sub;			/**< notification of manual control updates */
+	int		_arming_sub;			/**< arming status of outputs */
+
+	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
+	orb_advert_t	_rates_sp_pub;			/**< rate setpoint publication */
+	orb_advert_t	_actuators_0_pub;		/**< actuator control group 0 setpoint */
+
+	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
+	struct vehicle_attitude_setpoint_s	_att_sp;		/**< vehicle attitude setpoint */
+	struct manual_control_setpoint_s	_manual;		/**< r/c channel data */
+	struct vehicle_control_mode_s		_control_mode;	/**< vehicle control mode */
+	struct actuator_controls_s			_actuators;		/**< actuator control inputs */
+	struct actuator_armed_s				_arming;		/**< actuator arming status */
+	struct vehicle_rates_setpoint_s		_rates_sp;		/**< vehicle rates setpoint */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	math::Matrix<3, 3> _K;					/**< diagonal gain matrix for position error */
+	math::Matrix<3, 3> _K_rate_p;				/**< diagonal gain matrix for angular rate error */
+	math::Matrix<3, 3> _K_rate_d;				/**< diagonal gain matrix for angular rate derivative */
+
+	math::Vector<3> _rates_prev;			/**< angular rates on previous step */
+
+	struct {
+		param_t att_p;
+		param_t att_rate_p;
+		param_t att_rate_d;
+		param_t yaw_p;
+		param_t yaw_rate_p;
+		param_t yaw_rate_d;
+	}		_parameter_handles;		/**< handles for interesting parameters */
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int			parameters_update();
+
+	/**
+	 * Update control outputs
+	 */
+	void		control_update();
+
+	/**
+	 * Check for changes in vehicle control mode.
+	 */
+	void		vehicle_control_mode_poll();
+
+	/**
+	 * Check for changes in manual inputs.
+	 */
+	void		vehicle_manual_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;
+
+MulticopterAttitudeControl	*g_control;
+}
+
+MulticopterAttitudeControl::MulticopterAttitudeControl() :
+
+	_task_should_exit(false),
+	_control_task(-1),
+
+/* subscriptions */
+	_att_sub(-1),
+	_att_sp_sub(-1),
+	_control_mode_sub(-1),
+	_params_sub(-1),
+	_manual_sub(-1),
+	_arming_sub(-1),
+
+/* publications */
+	_att_sp_pub(-1),
+	_rates_sp_pub(-1),
+	_actuators_0_pub(-1),
+
+/* performance counters */
+	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control"))
+
+{
+	memset(&_att, 0, sizeof(_att));
+	memset(&_att_sp, 0, sizeof(_att_sp));
+	memset(&_manual, 0, sizeof(_manual));
+	memset(&_control_mode, 0, sizeof(_control_mode));
+	memset(&_arming, 0, sizeof(_arming));
+
+	_K.zero();
+	_K_rate_p.zero();
+	_K_rate_d.zero();
+
+	_rates_prev.zero();
+
+	_parameter_handles.att_p		= 	param_find("MC_ATT_P");
+	_parameter_handles.att_rate_p	= 	param_find("MC_ATTRATE_P");
+	_parameter_handles.att_rate_d	= 	param_find("MC_ATTRATE_D");
+	_parameter_handles.yaw_p		=	param_find("MC_YAWPOS_P");
+	_parameter_handles.yaw_rate_p	= 	param_find("MC_YAWRATE_P");
+	_parameter_handles.yaw_rate_d	= 	param_find("MC_YAWRATE_D");
+
+	/* fetch initial parameter values */
+	parameters_update();
+}
+
+MulticopterAttitudeControl::~MulticopterAttitudeControl()
+{
+	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
+MulticopterAttitudeControl::parameters_update()
+{
+	float att_p;
+	float att_rate_p;
+	float att_rate_d;
+	float yaw_p;
+	float yaw_rate_p;
+	float yaw_rate_d;
+
+	param_get(_parameter_handles.att_p, &att_p);
+	param_get(_parameter_handles.att_rate_p, &att_rate_p);
+	param_get(_parameter_handles.att_rate_d, &att_rate_d);
+	param_get(_parameter_handles.yaw_p, &yaw_p);
+	param_get(_parameter_handles.yaw_rate_p, &yaw_rate_p);
+	param_get(_parameter_handles.yaw_rate_d, &yaw_rate_d);
+
+	_K(0, 0) = att_p;
+	_K(1, 1) = att_p;
+	_K(2, 2) = yaw_p;
+
+	_K_rate_p(0, 0) = att_rate_p;
+	_K_rate_p(1, 1) = att_rate_p;
+	_K_rate_p(2, 2) = yaw_rate_p;
+
+	_K_rate_d(0, 0) = att_rate_d;
+	_K_rate_d(1, 1) = att_rate_d;
+	_K_rate_d(2, 2) = yaw_rate_d;
+
+	return OK;
+}
+
+void
+MulticopterAttitudeControl::vehicle_control_mode_poll()
+{
+	bool control_mode_updated;
+
+	/* Check HIL state if vehicle status has changed */
+	orb_check(_control_mode_sub, &control_mode_updated);
+
+	if (control_mode_updated) {
+
+		orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_manual_poll()
+{
+	bool manual_updated;
+
+	/* get pilots inputs */
+	orb_check(_manual_sub, &manual_updated);
+
+	if (manual_updated) {
+
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
+	}
+}
+
+void
+MulticopterAttitudeControl::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);
+	}
+}
+
+void
+MulticopterAttitudeControl::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
+MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
+{
+	att_control::g_control->task_main();
+}
+
+void
+MulticopterAttitudeControl::task_main()
+{
+	/* inform about start */
+	warnx("started");
+	fflush(stdout);
+
+	/*
+	 * do subscriptions
+	 */
+	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
+	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
+
+	/* rate limit attitude updates to 100Hz */
+	orb_set_interval(_att_sub, 10);
+
+	parameters_update();
+
+	/* initialize values of critical structs until first regular update */
+	_arming.armed = false;
+
+	/* get an initial update for all sensor and status data */
+	vehicle_setpoint_poll();
+	vehicle_control_mode_poll();
+	vehicle_manual_poll();
+	arming_status_poll();
+
+	/* setpoint rotation matrix */
+	math::Matrix<3, 3> R_sp;
+	R_sp.identity();
+
+	/* rotation matrix for current state */
+	math::Matrix<3, 3> R;
+	R.identity();
+
+	/* current angular rates */
+	math::Vector<3> rates;
+	rates.zero();
+
+	/* identity matrix */
+	math::Matrix<3, 3> I;
+	I.identity();
+
+	math::Quaternion q;
+
+	bool reset_yaw_sp = true;
+
+	/* 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) {
+			/* copy the topic to clear updated flag */
+			struct parameter_update_s update;
+			orb_copy(ORB_ID(parameter_update), _params_sub, &update);
+
+			parameters_update();
+		}
+
+		/* only run controller if attitude changed */
+		if (fds[1].revents & POLLIN) {
+			static uint64_t last_run = 0;
+			float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
+			last_run = hrt_absolute_time();
+
+			/* guard against too large dt's */
+			if (dt > 0.02f)
+				dt = 0.02f;
+
+			/* copy attitude topic */
+			orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
+
+			vehicle_setpoint_poll();
+			vehicle_control_mode_poll();
+			arming_status_poll();
+			vehicle_manual_poll();
+
+			float yaw_sp_move_rate = 0.0f;
+			bool publish_att_sp = false;
+
+			/* define which input is the dominating control input */
+			if (_control_mode.flag_control_manual_enabled) {
+				/* manual input */
+				if (!_control_mode.flag_control_climb_rate_enabled) {
+					/* pass throttle directly if not in altitude control mode */
+					_att_sp.thrust = _manual.throttle;
+				}
+
+				if (!_arming.armed) {
+					/* reset yaw setpoint when disarmed */
+					reset_yaw_sp = true;
+				}
+
+				if (_control_mode.flag_control_attitude_enabled) {
+					/* control attitude, update attitude setpoint depending on mode */
+
+					if (_att_sp.thrust < 0.1f) {
+						// TODO
+						//if (_status.condition_landed) {
+						/* reset yaw setpoint if on ground */
+						//	reset_yaw_sp = true;
+						//}
+					} else {
+						if (_manual.yaw < -YAW_DEADZONE || YAW_DEADZONE < _manual.yaw) {
+							/* move yaw setpoint */
+							yaw_sp_move_rate = _manual.yaw;
+							_att_sp.yaw_body = _wrap_pi(_att_sp.yaw_body + yaw_sp_move_rate * dt);
+							_att_sp.R_valid = false;
+							publish_att_sp = true;
+						}
+					}
+
+					/* reset yaw setpint to current position if needed */
+					if (reset_yaw_sp) {
+						reset_yaw_sp = false;
+						_att_sp.yaw_body = _att.yaw;
+						_att_sp.R_valid = false;
+						publish_att_sp = true;
+					}
+
+					if (!_control_mode.flag_control_velocity_enabled) {
+						/* update attitude setpoint if not in position control mode */
+						_att_sp.roll_body = _manual.roll;
+						_att_sp.pitch_body = _manual.pitch;
+						_att_sp.R_valid = false;
+						publish_att_sp = true;
+					}
+
+				} else {
+					/* manual rate inputs (ACRO) */
+					// TODO
+					/* reset yaw setpoint after ACRO */
+					reset_yaw_sp = true;
+				}
+
+			} else {
+				/* reset yaw setpoint after non-manual control */
+				reset_yaw_sp = true;
+			}
+
+			if (_att_sp.R_valid) {
+				/* rotation matrix in _att_sp is valid, use it */
+				R_sp.set(&_att_sp.R_body[0][0]);
+
+			} else {
+				/* rotation matrix in _att_sp is not valid, use euler angles instead */
+				R_sp.from_euler(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body);
+
+				/* copy rotation matrix back to setpoint struct */
+				memcpy(&_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_att_sp.R_body));
+				_att_sp.R_valid = true;
+			}
+
+			if (publish_att_sp) {
+				/* publish the attitude setpoint */
+				_att_sp.timestamp = hrt_absolute_time();
+
+				if (_att_sp_pub > 0) {
+					orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
+
+				} else {
+					_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
+				}
+			}
+
+			/* rotation matrix for current state */
+			R.set(_att.R);
+
+			/* current body angular rates */
+			rates(0) = _att.rollspeed;
+			rates(1) = _att.pitchspeed;
+			rates(2) = _att.yawspeed;
+
+			/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
+			math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2));
+			math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
+
+			/* axis and sin(angle) of desired rotation */
+			math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z);
+
+			/* calculate angle error */
+			float e_R_z_sin = e_R.length();
+			float e_R_z_cos = R_z * R_sp_z;
+
+			/* calculate weight for yaw control */
+			float yaw_w = R_sp(2, 2) * R_sp(2, 2);
+
+			/* calculate rotation matrix after roll/pitch only rotation */
+			math::Matrix<3, 3> R_rp;
+
+			if (e_R_z_sin > 0.0f) {
+				/* get axis-angle representation */
+				float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
+				math::Vector<3> e_R_z_axis = e_R / e_R_z_sin;
+
+				e_R = e_R_z_axis * e_R_z_angle;
+
+				/* cross product matrix for e_R_axis */
+				math::Matrix<3, 3> e_R_cp;
+				e_R_cp.zero();
+				e_R_cp(0, 1) = -e_R_z_axis(2);
+				e_R_cp(0, 2) = e_R_z_axis(1);
+				e_R_cp(1, 0) = e_R_z_axis(2);
+				e_R_cp(1, 2) = -e_R_z_axis(0);
+				e_R_cp(2, 0) = -e_R_z_axis(1);
+				e_R_cp(2, 1) = e_R_z_axis(0);
+
+				/* rotation matrix for roll/pitch only rotation */
+				R_rp = R * (I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
+
+			} else {
+				/* zero roll/pitch rotation */
+				R_rp = R;
+			}
+
+			/* R_rp and R_sp has the same Z axis, calculate yaw error */
+			math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
+			math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
+			e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
+
+			if (e_R_z_cos < 0.0f) {
+				/* for large thrust vector rotations use another rotation method:
+				 * calculate angle and axis for R -> R_sp rotation directly */
+				q.from_dcm(R.transposed() * R_sp);
+				math::Vector<3> e_R_d = q.imag();
+				e_R_d.normalize();
+				e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
+
+				/* use fusion of Z axis based rotation and direct rotation */
+				float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
+				e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
+			}
+
+			/* angular rates setpoint*/
+			math::Vector<3> rates_sp = _K * e_R;
+
+			/* feed forward yaw setpoint rate */
+			rates_sp(2) += yaw_sp_move_rate * yaw_w;
+			math::Vector<3> control = _K_rate_p * (rates_sp - rates) + _K_rate_d * (_rates_prev - rates) / fmaxf(dt, 0.003f);
+			_rates_prev = rates;
+
+			/* publish the attitude rates setpoint */
+			_rates_sp.roll = rates_sp(0);
+			_rates_sp.pitch = rates_sp(1);
+			_rates_sp.yaw = rates_sp(2);
+			_rates_sp.thrust = _att_sp.thrust;
+			_rates_sp.timestamp = hrt_absolute_time();
+
+			if (_rates_sp_pub > 0) {
+				orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp);
+
+			} else {
+				_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
+			}
+
+			/* publish the attitude controls */
+			if (_control_mode.flag_control_rates_enabled) {
+				_actuators.control[0] = (isfinite(control(0))) ? control(0) : 0.0f;
+				_actuators.control[1] = (isfinite(control(1))) ? control(1) : 0.0f;
+				_actuators.control[2] = (isfinite(control(2))) ? control(2) : 0.0f;
+				_actuators.control[3] = (isfinite(_rates_sp.thrust)) ? _rates_sp.thrust : 0.0f;
+				_actuators.timestamp = hrt_absolute_time();
+			} else {
+				/* controller disabled, publish zero attitude controls */
+				_actuators.control[0] = 0.0f;
+				_actuators.control[1] = 0.0f;
+				_actuators.control[2] = 0.0f;
+				_actuators.control[3] = 0.0f;
+				_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("exit");
+
+	_control_task = -1;
+	_exit(0);
+}
+
+int
+MulticopterAttitudeControl::start()
+{
+	ASSERT(_control_task == -1);
+
+	/* start the task */
+	_control_task = task_spawn_cmd("mc_att_control_vector",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2048,
+				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
+				       nullptr);
+
+	if (_control_task < 0) {
+		warn("task start failed");
+		return -errno;
+	}
+
+	return OK;
+}
+
+int mc_att_control_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		errx(1, "usage: mc_att_control_vector {start|stop|status}");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (att_control::g_control != nullptr)
+			errx(1, "already running");
+
+		att_control::g_control = new MulticopterAttitudeControl;
+
+		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;
+}