mc att control: prepare for ros integration, move class into spearate file

6 files changed, 609 insertions, 557 deletions

diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp
new file mode 100644
index 000000000..31cdd99e4
--- /dev/null
+++ b/src/modules/mc_att_control/mc_att_control.cpp
@@ -0,0 +1,403 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mc_att_control.cpp
+ * Multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Roman Bapst <bapstr@ethz.ch>
+ */
+
+#include "mc_att_control.h"
+
+#define YAW_DEADZONE	0.05f
+#define MIN_TAKEOFF_THRUST    0.2f
+#define RATES_I_LIMIT	0.3f
+
+namespace mc_att_control
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+}
+
+MulticopterAttitudeControl::MulticopterAttitudeControl() :
+	MulticopterAttitudeControlBase(),
+	_task_should_exit(false),
+	_control_task(-1),
+	_actuators_0_circuit_breaker_enabled(false),
+	/* subscriptions */
+	_v_att_sub(-1),
+	_v_att_sp_sub(-1),
+	_v_control_mode_sub(-1),
+	_params_sub(-1),
+	_manual_control_sp_sub(-1),
+	_armed_sub(-1),
+
+	/* publications */
+	_att_sp_pub(-1),
+	_v_rates_sp_pub(-1),
+	_actuators_0_pub(-1),
+	n(),
+
+	/* performance counters */
+	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
+
+{
+	_params_handles.roll_p			= 	param_find("MC_ROLL_P");
+	_params_handles.roll_rate_p		= 	param_find("MC_ROLLRATE_P");
+	_params_handles.roll_rate_i		= 	param_find("MC_ROLLRATE_I");
+	_params_handles.roll_rate_d		= 	param_find("MC_ROLLRATE_D");
+	_params_handles.pitch_p			= 	param_find("MC_PITCH_P");
+	_params_handles.pitch_rate_p	= 	param_find("MC_PITCHRATE_P");
+	_params_handles.pitch_rate_i	= 	param_find("MC_PITCHRATE_I");
+	_params_handles.pitch_rate_d	= 	param_find("MC_PITCHRATE_D");
+	_params_handles.yaw_p			=	param_find("MC_YAW_P");
+	_params_handles.yaw_rate_p		= 	param_find("MC_YAWRATE_P");
+	_params_handles.yaw_rate_i		= 	param_find("MC_YAWRATE_I");
+	_params_handles.yaw_rate_d		= 	param_find("MC_YAWRATE_D");
+	_params_handles.yaw_ff			= 	param_find("MC_YAW_FF");
+	_params_handles.yaw_rate_max	= 	param_find("MC_YAWRATE_MAX");
+	_params_handles.man_roll_max	= 	param_find("MC_MAN_R_MAX");
+	_params_handles.man_pitch_max	= 	param_find("MC_MAN_P_MAX");
+	_params_handles.man_yaw_max		= 	param_find("MC_MAN_Y_MAX");
+	_params_handles.acro_roll_max	= 	param_find("MC_ACRO_R_MAX");
+	_params_handles.acro_pitch_max	= 	param_find("MC_ACRO_P_MAX");
+	_params_handles.acro_yaw_max		= 	param_find("MC_ACRO_Y_MAX");
+
+	/* fetch initial parameter values */
+	parameters_update();
+
+	/*
+	 * do subscriptions
+	 */
+	// _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
+	// _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0);
+	// _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
+	PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0);
+	// _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
+	PX4_SUBSCRIBE(n, vehicle_control_mode, 0);
+	// _params_sub = orb_subscribe(ORB_ID(parameter_update));
+	PX4_SUBSCRIBE(n, parameter_update, 0);
+	// _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	PX4_SUBSCRIBE(n, manual_control_setpoint, 0);
+	// _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	PX4_SUBSCRIBE(n, actuator_armed, 0);
+
+}
+
+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);
+	}
+
+	// mc_att_control::g_control = nullptr;
+}
+
+int
+MulticopterAttitudeControl::parameters_update()
+{
+	float v;
+
+	/* roll gains */
+	param_get(_params_handles.roll_p, &v);
+	_params.att_p(0) = v;
+	param_get(_params_handles.roll_rate_p, &v);
+	_params.rate_p(0) = v;
+	param_get(_params_handles.roll_rate_i, &v);
+	_params.rate_i(0) = v;
+	param_get(_params_handles.roll_rate_d, &v);
+	_params.rate_d(0) = v;
+
+	/* pitch gains */
+	param_get(_params_handles.pitch_p, &v);
+	_params.att_p(1) = v;
+	param_get(_params_handles.pitch_rate_p, &v);
+	_params.rate_p(1) = v;
+	param_get(_params_handles.pitch_rate_i, &v);
+	_params.rate_i(1) = v;
+	param_get(_params_handles.pitch_rate_d, &v);
+	_params.rate_d(1) = v;
+
+	/* yaw gains */
+	param_get(_params_handles.yaw_p, &v);
+	_params.att_p(2) = v;
+	param_get(_params_handles.yaw_rate_p, &v);
+	_params.rate_p(2) = v;
+	param_get(_params_handles.yaw_rate_i, &v);
+	_params.rate_i(2) = v;
+	param_get(_params_handles.yaw_rate_d, &v);
+	_params.rate_d(2) = v;
+
+	param_get(_params_handles.yaw_ff, &_params.yaw_ff);
+	param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
+	_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
+
+	/* manual control scale */
+	param_get(_params_handles.man_roll_max, &_params.man_roll_max);
+	param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
+	param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
+	_params.man_roll_max = math::radians(_params.man_roll_max);
+	_params.man_pitch_max = math::radians(_params.man_pitch_max);
+	_params.man_yaw_max = math::radians(_params.man_yaw_max);
+
+	/* acro control scale */
+	param_get(_params_handles.acro_roll_max, &v);
+	_params.acro_rate_max(0) = math::radians(v);
+	param_get(_params_handles.acro_pitch_max, &v);
+	_params.acro_rate_max(1) = math::radians(v);
+	param_get(_params_handles.acro_yaw_max, &v);
+	_params.acro_rate_max(2) = math::radians(v);
+
+	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
+
+	return OK;
+}
+
+void
+MulticopterAttitudeControl::parameter_update_poll()
+{
+	bool updated;
+
+	/* Check HIL state if vehicle status has changed */
+	orb_check(_params_sub, &updated);
+
+	if (updated) {
+		struct parameter_update_s param_update;
+		orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
+		parameters_update();
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_control_mode_poll()
+{
+	bool updated;
+
+	/* Check HIL state if vehicle status has changed */
+	orb_check(_v_control_mode_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_manual_poll()
+{
+	bool updated;
+
+	/* get pilots inputs */
+	orb_check(_manual_control_sp_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
+{
+	/* check if there is a new setpoint */
+	bool updated;
+	orb_check(_v_att_sp_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
+	}
+}
+
+void
+MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
+{
+	/* check if there is a new setpoint */
+	bool updated;
+	orb_check(_v_rates_sp_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
+	}
+}
+
+void
+MulticopterAttitudeControl::arming_status_poll()
+{
+	/* check if there is a new setpoint */
+	bool updated;
+	orb_check(_armed_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
+	}
+}
+
+
+void  MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
+
+	perf_begin(_loop_perf);
+
+	/* run controller on attitude changes */
+	static uint64_t last_run = 0;
+	float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
+	/* guard against too small (< 2ms) and too large (> 20ms) dt's */
+	if (dt < 0.002f) {
+		dt = 0.002f;
+
+	} else if (dt > 0.02f) {
+		dt = 0.02f;
+	}
+
+	/* copy attitude topic */
+	orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
+
+	/* check for updates in other topics */
+	parameter_update_poll();
+	vehicle_control_mode_poll();
+	arming_status_poll();
+	vehicle_manual_poll();
+
+	if (_v_control_mode.flag_control_attitude_enabled) {
+		control_attitude(dt);
+
+		/* publish the attitude setpoint if needed */
+		if (_publish_att_sp) {
+			_v_att_sp.timestamp = hrt_absolute_time();
+
+			if (_att_sp_pub > 0) {
+				orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
+					    &_v_att_sp);
+
+			} else {
+				_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
+							    &_v_att_sp);
+			}
+		}
+
+		/* publish attitude rates setpoint */
+		_v_rates_sp.roll = _rates_sp(0);
+		_v_rates_sp.pitch = _rates_sp(1);
+		_v_rates_sp.yaw = _rates_sp(2);
+		_v_rates_sp.thrust = _thrust_sp;
+		_v_rates_sp.timestamp = hrt_absolute_time();
+
+		if (_v_rates_sp_pub > 0) {
+			orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
+
+		} else {
+			_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
+		}
+
+	} else {
+		/* attitude controller disabled, poll rates setpoint topic */
+		if (_v_control_mode.flag_control_manual_enabled) {
+			/* manual rates control - ACRO mode */
+			_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
+						    _manual_control_sp.r).emult(_params.acro_rate_max);
+			_thrust_sp = _manual_control_sp.z;
+
+			/* reset yaw setpoint after ACRO */
+			_reset_yaw_sp = true;
+
+			/* publish attitude rates setpoint */
+			_v_rates_sp.roll = _rates_sp(0);
+			_v_rates_sp.pitch = _rates_sp(1);
+			_v_rates_sp.yaw = _rates_sp(2);
+			_v_rates_sp.thrust = _thrust_sp;
+			_v_rates_sp.timestamp = hrt_absolute_time();
+
+			if (_v_rates_sp_pub > 0) {
+				orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
+
+			} else {
+				_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
+			}
+
+		} else {
+			/* attitude controller disabled, poll rates setpoint topic */
+			vehicle_rates_setpoint_poll();
+			_rates_sp(0) = _v_rates_sp.roll;
+			_rates_sp(1) = _v_rates_sp.pitch;
+			_rates_sp(2) = _v_rates_sp.yaw;
+			_thrust_sp = _v_rates_sp.thrust;
+		}
+	}
+
+	if (_v_control_mode.flag_control_rates_enabled) {
+		control_attitude_rates(dt);
+
+		/* publish actuator controls */
+		_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
+		_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
+		_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
+		_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
+		_actuators.timestamp = hrt_absolute_time();
+
+		if (!_actuators_0_circuit_breaker_enabled) {
+			if (_actuators_0_pub > 0) {
+				orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
+
+			} else {
+				_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
+			}
+		}
+	}
+}
diff --git a/src/modules/mc_att_control/mc_att_control.h b/src/modules/mc_att_control/mc_att_control.h
new file mode 100644
index 000000000..48df88771
--- /dev/null
+++ b/src/modules/mc_att_control/mc_att_control.h
@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mc_att_control.h
+ * Multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Roman Bapst <bapstr@ethz.ch>
+ *
+ * The controller has two loops: P loop for angular error and PD loop for angular rate error.
+ * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
+ * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
+ * so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
+ * These two approaches fused seamlessly with weight depending on angular error.
+ * When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
+ * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
+ */
+
+#include <px4.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/circuit_breaker.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/geo/geo.h>
+
+#include "mc_att_control_base.h"
+
+class MulticopterAttitudeControl :
+	public MulticopterAttitudeControlBase
+{
+public:
+	/**
+	 * Constructor
+	 */
+	MulticopterAttitudeControl();
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~MulticopterAttitudeControl();
+
+	void  handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
+
+	void spin() { n.spin(); }
+
+private:
+	bool		_task_should_exit;			/**< if true, sensor task should exit */
+	int		_control_task;				/**< task handle for sensor task */
+	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
+
+
+	int		_v_att_sub;				/**< vehicle attitude subscription */
+	int		_v_att_sp_sub;			/**< vehicle attitude setpoint subscription */
+	int		_v_rates_sp_sub;		/**< vehicle rates setpoint subscription */
+	int		_v_control_mode_sub;	/**< vehicle control mode subscription */
+	int		_params_sub;			/**< parameter updates subscription */
+	int		_manual_control_sp_sub;	/**< manual control setpoint subscription */
+	int		_armed_sub;				/**< arming status subscription */
+
+	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
+	orb_advert_t	_v_rates_sp_pub;		/**< rate setpoint publication */
+	orb_advert_t	_actuators_0_pub;		/**< attitude actuator controls publication */
+
+	px4::NodeHandle n;
+
+	struct {
+		param_t roll_p;
+		param_t roll_rate_p;
+		param_t roll_rate_i;
+		param_t roll_rate_d;
+		param_t pitch_p;
+		param_t pitch_rate_p;
+		param_t pitch_rate_i;
+		param_t pitch_rate_d;
+		param_t yaw_p;
+		param_t yaw_rate_p;
+		param_t yaw_rate_i;
+		param_t yaw_rate_d;
+		param_t yaw_ff;
+		param_t yaw_rate_max;
+
+		param_t man_roll_max;
+		param_t man_pitch_max;
+		param_t man_yaw_max;
+		param_t acro_roll_max;
+		param_t acro_pitch_max;
+		param_t acro_yaw_max;
+	}		_params_handles;		/**< handles for interesting parameters */
+
+	perf_counter_t _loop_perf; /**< loop performance counter */
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int			parameters_update();
+
+	/**
+	 * Check for parameter update and handle it.
+	 */
+	void		parameter_update_poll();
+
+	/**
+	 * Check for changes in vehicle control mode.
+	 */
+	void		vehicle_control_mode_poll();
+
+	/**
+	 * Check for changes in manual inputs.
+	 */
+	void		vehicle_manual_poll();
+
+	/**
+	 * Check for attitude setpoint updates.
+	 */
+	void		vehicle_attitude_setpoint_poll();
+
+	/**
+	 * Check for rates setpoint updates.
+	 */
+	void		vehicle_rates_setpoint_poll();
+
+	/**
+	 * Check for arming status updates.
+	 */
+	void		arming_status_poll();
+
+};
+
diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp
index f6b3268b5..d0ab1bfbf 100644
--- a/src/modules/mc_att_control/mc_att_control_base.cpp
+++ b/src/modules/mc_att_control/mc_att_control_base.cpp
@@ -32,7 +32,7 @@
 /**
  * @file mc_att_control_base.cpp
  *
- * MC Attitude Controller
+ * MC Attitude Controller : Control and math code
  *
  * @author Tobias Naegeli <naegelit@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
@@ -46,6 +46,7 @@
 #include "mc_att_control_base.h"
 #include <geo/geo.h>
 #include <math.h>
+#include <lib/mathlib/mathlib.h>
 
 #ifdef CONFIG_ARCH_ARM
 #else
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h
index f81a0d772..54a445e0d 100644
--- a/src/modules/mc_att_control/mc_att_control_base.h
+++ b/src/modules/mc_att_control/mc_att_control_base.h
@@ -35,7 +35,7 @@
 /**
  * @file mc_att_control_base.h
  *
- * MC Attitude Controller
+ * MC Attitude Controller : Control and math code
  *
  * @author Tobias Naegeli <naegelit@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 1103191e7..a1dca8a8c 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -52,548 +52,33 @@
  * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
  */
 
-#include <px4.h>
-#include <stdlib.h>
 #include <string.h>
-#include <unistd.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <systemlib/param/param.h>
-#include <systemlib/err.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/circuit_breaker.h>
-#include <lib/mathlib/mathlib.h>
-#include <lib/geo/geo.h>
-
-#include "mc_att_control_base.h"
+#include <cstdlib>
+#include "mc_att_control.h"
 
 static bool thread_running = false;     /**< Deamon status flag */
 static int daemon_task;             /**< Handle of deamon task / thread */
-
-using namespace px4;
-
-/**
- * Multicopter attitude control app start / stop handling function
- *
- * @ingroup apps
- */
-
-PX4_MAIN_FUNCTION(mc_att_control);
-
-int mc_attitude_thread_main(int argc, char *argv[]);
-
-#define YAW_DEADZONE	0.05f
-#define MIN_TAKEOFF_THRUST    0.2f
-#define RATES_I_LIMIT	0.3f
-
-void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
-		PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
-}
-
-
 namespace px4
 {
 bool task_should_exit = false;
 }
 
-// PX4_MAIN_FUNCTION(mc_att_control) { px4::init(argc, argv, "listener");
-
-	// px4::NodeHandle n;
-
-	// PX4_SUBSCRIBE(n, rc_channels, handle_vehicle_attitude2, 1000);
-
-	/**
-	 * px4::spin() will enter a loop, pumping callbacks.  With this version, all
-	 * callbacks will be called from within this thread (the main one).  px4::spin()
-	 * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
-	 */
-	// n.spin();
-	// PX4_INFO("finished, returning");
-
-	// return 0;
-// }
-
-class MulticopterAttitudeControl :
-	public MulticopterAttitudeControlBase
-{
-public:
-	/**
-	 * Constructor
-	 */
-	MulticopterAttitudeControl();
-
-	/**
-	 * Destructor, also kills the sensors task.
-	 */
-	~MulticopterAttitudeControl();
-
-	void  handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
-
-	void spin() { n.spin(); }
-
-private:
-	bool		_task_should_exit;			/**< if true, sensor task should exit */
-	int		_control_task;				/**< task handle for sensor task */
-	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
-
-
-	int		_v_att_sub;				/**< vehicle attitude subscription */
-	int		_v_att_sp_sub;			/**< vehicle attitude setpoint subscription */
-	int		_v_rates_sp_sub;		/**< vehicle rates setpoint subscription */
-	int		_v_control_mode_sub;	/**< vehicle control mode subscription */
-	int		_params_sub;			/**< parameter updates subscription */
-	int		_manual_control_sp_sub;	/**< manual control setpoint subscription */
-	int		_armed_sub;				/**< arming status subscription */
-
-	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
-	orb_advert_t	_v_rates_sp_pub;		/**< rate setpoint publication */
-	orb_advert_t	_actuators_0_pub;		/**< attitude actuator controls publication */
-
-	px4::NodeHandle n;
-
-	struct {
-		param_t roll_p;
-		param_t roll_rate_p;
-		param_t roll_rate_i;
-		param_t roll_rate_d;
-		param_t pitch_p;
-		param_t pitch_rate_p;
-		param_t pitch_rate_i;
-		param_t pitch_rate_d;
-		param_t yaw_p;
-		param_t yaw_rate_p;
-		param_t yaw_rate_i;
-		param_t yaw_rate_d;
-		param_t yaw_ff;
-		param_t yaw_rate_max;
-
-		param_t man_roll_max;
-		param_t man_pitch_max;
-		param_t man_yaw_max;
-		param_t acro_roll_max;
-		param_t acro_pitch_max;
-		param_t acro_yaw_max;
-	}		_params_handles;		/**< handles for interesting parameters */
-
-	perf_counter_t _loop_perf; /**< loop performance counter */
-
-	/**
-	 * Update our local parameter cache.
-	 */
-	int			parameters_update();
-
-	/**
-	 * Check for parameter update and handle it.
-	 */
-	void		parameter_update_poll();
-
-	/**
-	 * Check for changes in vehicle control mode.
-	 */
-	void		vehicle_control_mode_poll();
-
-	/**
-	 * Check for changes in manual inputs.
-	 */
-	void		vehicle_manual_poll();
-
-	/**
-	 * Check for attitude setpoint updates.
-	 */
-	void		vehicle_attitude_setpoint_poll();
-
-	/**
-	 * Check for rates setpoint updates.
-	 */
-	void		vehicle_rates_setpoint_poll();
-
-	/**
-	 * Check for arming status updates.
-	 */
-	void		arming_status_poll();
-
-};
-
-namespace mc_att_control
-{
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
-}
-
-MulticopterAttitudeControl::MulticopterAttitudeControl() :
-	MulticopterAttitudeControlBase(),
-	_task_should_exit(false),
-	_control_task(-1),
-	_actuators_0_circuit_breaker_enabled(false),
-	/* subscriptions */
-	_v_att_sub(-1),
-	_v_att_sp_sub(-1),
-	_v_control_mode_sub(-1),
-	_params_sub(-1),
-	_manual_control_sp_sub(-1),
-	_armed_sub(-1),
-
-	/* publications */
-	_att_sp_pub(-1),
-	_v_rates_sp_pub(-1),
-	_actuators_0_pub(-1),
-	n(),
-
-	/* performance counters */
-	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
-
-{
-	_params_handles.roll_p			= 	param_find("MC_ROLL_P");
-	_params_handles.roll_rate_p		= 	param_find("MC_ROLLRATE_P");
-	_params_handles.roll_rate_i		= 	param_find("MC_ROLLRATE_I");
-	_params_handles.roll_rate_d		= 	param_find("MC_ROLLRATE_D");
-	_params_handles.pitch_p			= 	param_find("MC_PITCH_P");
-	_params_handles.pitch_rate_p	= 	param_find("MC_PITCHRATE_P");
-	_params_handles.pitch_rate_i	= 	param_find("MC_PITCHRATE_I");
-	_params_handles.pitch_rate_d	= 	param_find("MC_PITCHRATE_D");
-	_params_handles.yaw_p			=	param_find("MC_YAW_P");
-	_params_handles.yaw_rate_p		= 	param_find("MC_YAWRATE_P");
-	_params_handles.yaw_rate_i		= 	param_find("MC_YAWRATE_I");
-	_params_handles.yaw_rate_d		= 	param_find("MC_YAWRATE_D");
-	_params_handles.yaw_ff			= 	param_find("MC_YAW_FF");
-	_params_handles.yaw_rate_max	= 	param_find("MC_YAWRATE_MAX");
-	_params_handles.man_roll_max	= 	param_find("MC_MAN_R_MAX");
-	_params_handles.man_pitch_max	= 	param_find("MC_MAN_P_MAX");
-	_params_handles.man_yaw_max		= 	param_find("MC_MAN_Y_MAX");
-	_params_handles.acro_roll_max	= 	param_find("MC_ACRO_R_MAX");
-	_params_handles.acro_pitch_max	= 	param_find("MC_ACRO_P_MAX");
-	_params_handles.acro_yaw_max		= 	param_find("MC_ACRO_Y_MAX");
-
-	/* fetch initial parameter values */
-	parameters_update();
-
-	/*
-	 * do subscriptions
-	 */
-	// _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	PX4_SUBSCRIBE(n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
-	// _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, 0);
-	// _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
-	PX4_SUBSCRIBE(n, vehicle_rates_setpoint, 0);
-	// _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	PX4_SUBSCRIBE(n, vehicle_control_mode, 0);
-	// _params_sub = orb_subscribe(ORB_ID(parameter_update));
-	PX4_SUBSCRIBE(n, parameter_update, 0);
-	// _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	PX4_SUBSCRIBE(n, manual_control_setpoint, 0);
-	// _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-	PX4_SUBSCRIBE(n, actuator_armed, 0);
-
-}
-
-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);
-	}
-
-	// mc_att_control::g_control = nullptr;
-}
-
-int
-MulticopterAttitudeControl::parameters_update()
-{
-	float v;
-
-	/* roll gains */
-	param_get(_params_handles.roll_p, &v);
-	_params.att_p(0) = v;
-	param_get(_params_handles.roll_rate_p, &v);
-	_params.rate_p(0) = v;
-	param_get(_params_handles.roll_rate_i, &v);
-	_params.rate_i(0) = v;
-	param_get(_params_handles.roll_rate_d, &v);
-	_params.rate_d(0) = v;
-
-	/* pitch gains */
-	param_get(_params_handles.pitch_p, &v);
-	_params.att_p(1) = v;
-	param_get(_params_handles.pitch_rate_p, &v);
-	_params.rate_p(1) = v;
-	param_get(_params_handles.pitch_rate_i, &v);
-	_params.rate_i(1) = v;
-	param_get(_params_handles.pitch_rate_d, &v);
-	_params.rate_d(1) = v;
-
-	/* yaw gains */
-	param_get(_params_handles.yaw_p, &v);
-	_params.att_p(2) = v;
-	param_get(_params_handles.yaw_rate_p, &v);
-	_params.rate_p(2) = v;
-	param_get(_params_handles.yaw_rate_i, &v);
-	_params.rate_i(2) = v;
-	param_get(_params_handles.yaw_rate_d, &v);
-	_params.rate_d(2) = v;
-
-	param_get(_params_handles.yaw_ff, &_params.yaw_ff);
-	param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
-	_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
-
-	/* manual control scale */
-	param_get(_params_handles.man_roll_max, &_params.man_roll_max);
-	param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
-	param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
-	_params.man_roll_max = math::radians(_params.man_roll_max);
-	_params.man_pitch_max = math::radians(_params.man_pitch_max);
-	_params.man_yaw_max = math::radians(_params.man_yaw_max);
-
-	/* acro control scale */
-	param_get(_params_handles.acro_roll_max, &v);
-	_params.acro_rate_max(0) = math::radians(v);
-	param_get(_params_handles.acro_pitch_max, &v);
-	_params.acro_rate_max(1) = math::radians(v);
-	param_get(_params_handles.acro_yaw_max, &v);
-	_params.acro_rate_max(2) = math::radians(v);
-
-	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
-
-	return OK;
-}
-
-void
-MulticopterAttitudeControl::parameter_update_poll()
-{
-	bool updated;
-
-	/* Check HIL state if vehicle status has changed */
-	orb_check(_params_sub, &updated);
-
-	if (updated) {
-		struct parameter_update_s param_update;
-		orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
-		parameters_update();
-	}
-}
-
-void
-MulticopterAttitudeControl::vehicle_control_mode_poll()
-{
-	bool updated;
-
-	/* Check HIL state if vehicle status has changed */
-	orb_check(_v_control_mode_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
-	}
-}
-
-void
-MulticopterAttitudeControl::vehicle_manual_poll()
-{
-	bool updated;
-
-	/* get pilots inputs */
-	orb_check(_manual_control_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
-	}
-}
-
-void
-MulticopterAttitudeControl::vehicle_attitude_setpoint_poll()
-{
-	/* check if there is a new setpoint */
-	bool updated;
-	orb_check(_v_att_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp);
-	}
-}
-
-void
-MulticopterAttitudeControl::vehicle_rates_setpoint_poll()
-{
-	/* check if there is a new setpoint */
-	bool updated;
-	orb_check(_v_rates_sp_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp);
-	}
-}
-
-void
-MulticopterAttitudeControl::arming_status_poll()
-{
-	/* check if there is a new setpoint */
-	bool updated;
-	orb_check(_armed_sub, &updated);
+using namespace px4;
 
-	if (updated) {
-		orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
-	}
+PX4_MAIN_FUNCTION(mc_att_control);
+void handle_vehicle_attitude2(const PX4_TOPIC_T(rc_channels) &msg) {
+		PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
 }
 
-// void
-// MulticopterAttitudeControl::task_main()
-// {
-
-
-	// [> wakeup source: vehicle attitude <]
-	// struct pollfd fds[1];
-
-	// fds[0].fd = _v_att_sub;
-	// fds[0].events = POLLIN;
-
-	// while (!_task_should_exit) {
-
-
-		// perf_end(_loop_perf);
-	// }
-
-	// warnx("exit");
-
-	// _control_task = -1;
-	// _exit(0);
-// }
-
-void  MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
-
-	perf_begin(_loop_perf);
-
-	/* run controller on attitude changes */
-	static uint64_t last_run = 0;
-	float dt = (hrt_absolute_time() - last_run) / 1000000.0f;
-	last_run = hrt_absolute_time();
-
-	/* guard against too small (< 2ms) and too large (> 20ms) dt's */
-	if (dt < 0.002f) {
-		dt = 0.002f;
-
-	} else if (dt > 0.02f) {
-		dt = 0.02f;
-	}
-
-	/* copy attitude topic */
-	orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att);
-
-	/* check for updates in other topics */
-	parameter_update_poll();
-	vehicle_control_mode_poll();
-	arming_status_poll();
-	vehicle_manual_poll();
-
-	if (_v_control_mode.flag_control_attitude_enabled) {
-		control_attitude(dt);
-
-		/* publish the attitude setpoint if needed */
-		if (_publish_att_sp) {
-			_v_att_sp.timestamp = hrt_absolute_time();
-
-			if (_att_sp_pub > 0) {
-				orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
-					    &_v_att_sp);
 
-			} else {
-				_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
-							    &_v_att_sp);
-			}
-		}
-
-		/* publish attitude rates setpoint */
-		_v_rates_sp.roll = _rates_sp(0);
-		_v_rates_sp.pitch = _rates_sp(1);
-		_v_rates_sp.yaw = _rates_sp(2);
-		_v_rates_sp.thrust = _thrust_sp;
-		_v_rates_sp.timestamp = hrt_absolute_time();
-
-		if (_v_rates_sp_pub > 0) {
-			orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
-
-		} else {
-			_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
-		}
-
-	} else {
-		/* attitude controller disabled, poll rates setpoint topic */
-		if (_v_control_mode.flag_control_manual_enabled) {
-			/* manual rates control - ACRO mode */
-			_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
-						    _manual_control_sp.r).emult(_params.acro_rate_max);
-			_thrust_sp = _manual_control_sp.z;
-
-			/* reset yaw setpoint after ACRO */
-			_reset_yaw_sp = true;
-
-			/* publish attitude rates setpoint */
-			_v_rates_sp.roll = _rates_sp(0);
-			_v_rates_sp.pitch = _rates_sp(1);
-			_v_rates_sp.yaw = _rates_sp(2);
-			_v_rates_sp.thrust = _thrust_sp;
-			_v_rates_sp.timestamp = hrt_absolute_time();
-
-			if (_v_rates_sp_pub > 0) {
-				orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
-
-			} else {
-				_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
-			}
-
-		} else {
-			/* attitude controller disabled, poll rates setpoint topic */
-			vehicle_rates_setpoint_poll();
-			_rates_sp(0) = _v_rates_sp.roll;
-			_rates_sp(1) = _v_rates_sp.pitch;
-			_rates_sp(2) = _v_rates_sp.yaw;
-			_thrust_sp = _v_rates_sp.thrust;
-		}
-	}
-
-	if (_v_control_mode.flag_control_rates_enabled) {
-		control_attitude_rates(dt);
-
-		/* publish actuator controls */
-		_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
-		_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
-		_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
-		_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
-		_actuators.timestamp = hrt_absolute_time();
-
-		if (!_actuators_0_circuit_breaker_enabled) {
-			if (_actuators_0_pub > 0) {
-				orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
-
-			} else {
-				_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
-			}
-		}
-	}
-}
+#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
+/**
+ * Multicopter attitude control app start / stop handling function
+ *
+ * @ingroup apps
+ */
 
-PX4_MAIN_FUNCTION(mc_att_control)
+extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[])
 {
 	px4::init(argc, argv, "mc_att_control");
 
@@ -615,54 +100,42 @@ PX4_MAIN_FUNCTION(mc_att_control)
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       2000,
-				       mc_attitude_thread_main,
+				       mc_att_control_task_main,
 					(argv) ? (const char **)&argv[2] : (const char **)NULL);
 
 		exit(0);
 	}
 
-	// if (!strcmp(argv[1], "stop")) {
-		// if (mc_att_control::g_control == nullptr) {
-			// errx(1, "not running");
-		// }
+	if (!strcmp(argv[1], "stop")) {
+		task_should_exit = true;
+		exit(0);
+	}
 
-		// delete mc_att_control::g_control;
-		// mc_att_control::g_control = nullptr;
-		// exit(0);
-	// }
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("is running");
 
-	// if (!strcmp(argv[1], "status")) {
-		// if (mc_att_control::g_control) {
-			// errx(0, "running");
+		} else {
+			warnx("not started");
+		}
 
-		// } else {
-			// errx(1, "not running");
-		// }
-	// }
+		exit(0);
+	}
 
 	warnx("unrecognized command");
 	return 1;
 }
+#endif
 
-int mc_attitude_thread_main(int argc, char *argv[])
+PX4_MAIN_FUNCTION(mc_att_control)
 {
-
 	warnx("starting");
-
 	MulticopterAttitudeControl attctl;
-
 	thread_running = true;
-
 	attctl.spin();
 
-	// while (!task_should_exit) {
-		// attctl.update();
-	// }
-
 	warnx("exiting.");
-
 	thread_running = false;
-
 	return 0;
 }
 
diff --git a/src/modules/mc_att_control/module.mk b/src/modules/mc_att_control/module.mk
index ecd251d45..29254f5bb 100644
--- a/src/modules/mc_att_control/module.mk
+++ b/src/modules/mc_att_control/module.mk
@@ -38,5 +38,6 @@
 MODULE_COMMAND	= mc_att_control
 
 SRCS		= mc_att_control_main.cpp \
+		  mc_att_control.cpp \
 		  mc_att_control_base.cpp \
 		  mc_att_control_params.c