initial port of multiplatform version of mc_pos_control

1 files changed, 63 insertions, 0 deletions

diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
new file mode 100644
index 000000000..0b5775736
--- /dev/null
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 - 2015 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_pos_control_main.cpp
+ * Multicopter position controller.
+ *
+ * The controller has two loops: P loop for position error and PID loop for velocity error.
+ * Output of velocity controller is thrust vector that splitted to thrust direction
+ * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
+ * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "mc_pos_control.h"
+
+bool thread_running = false;     /**< Deamon status flag */
+
+int main(int argc, char **argv)
+{
+	px4::init(argc, argv, "mc_pos_control_m");
+
+	PX4_INFO("starting");
+	MulticopterPositionControl posctl;
+	thread_running = true;
+	posctl.spin();
+
+	PX4_INFO("exiting.");
+	thread_running = false;
+	return 0;
+}