mc att control: make the main app use the base class, move euroc functions into own class

6 files changed, 241 insertions, 401 deletions

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 baf2bfe65..d21deb715 100644
--- a/src/modules/mc_att_control/mc_att_control_base.cpp
+++ b/src/modules/mc_att_control/mc_att_control_base.cpp
@@ -31,7 +31,7 @@
 
 /**
  * @file mc_att_control_base.h
- * 
+ *
  * @author Roman Bapst <bapstr@ethz.ch>
  *
  */
@@ -47,13 +47,12 @@ using namespace std;
 #endif
 
 MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
+	_task_should_exit(false),
+	_control_task(-1),
 
-		_task_should_exit(false), _control_task(-1),
-
-		_actuators_0_circuit_breaker_enabled(false),
+	_actuators_0_circuit_breaker_enabled(false),
 
-		/* performance counters */
-		_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
+	_publish_att_sp(false)
 
 {
 	memset(&_v_att, 0, sizeof(_v_att));
@@ -82,38 +81,14 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
 	_att_control.zero();
 
 	_I.identity();
-
-	// setup standard gains
-	_params.att_p(0)      = 5.0;
-	_params.rate_p(0)     = 0.05;
-	_params.rate_i(0)     = 0.0;
-	_params.rate_d(0)     = 0.003;
-	/* pitch gains */
-	_params.att_p(1)      = 5.0;
-	_params.rate_p(1)     = 0.05;
-	_params.rate_i(1)     = 0.0;
-	_params.rate_d(1)     = 0.003;
-	/* yaw gains */
-	_params.att_p(2)      = 2.8;
-	_params.rate_p(2)     = 0.2;
-	_params.rate_i(2)     = 0.1;
-	_params.rate_d(2)     = 0.0;
-	_params.yaw_rate_max  = 0.5;
-	_params.yaw_ff        = 0.5;
-	_params.man_roll_max  = 0.6;
-	_params.man_pitch_max = 0.6;
-	_params.man_yaw_max   = 0.6;
 }
 
 MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase() {
 }
 
-void MulticopterAttitudeControlBase::vehicle_attitude_setpoint_poll() {
-}
-
 void MulticopterAttitudeControlBase::control_attitude(float dt) {
 	float yaw_sp_move_rate = 0.0f;
-	bool publish_att_sp = false;
+	_publish_att_sp = false;
 
 	if (_v_control_mode.flag_control_manual_enabled) {
 		/* manual input, set or modify attitude setpoint */
@@ -127,7 +102,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 		if (!_v_control_mode.flag_control_climb_rate_enabled) {
 			/* pass throttle directly if not in altitude stabilized mode */
 			_v_att_sp.thrust = _manual_control_sp.z;
-			publish_att_sp = true;
+			_publish_att_sp = true;
 		}
 
 		if (!_armed.armed) {
@@ -156,7 +131,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
 			}
 			_v_att_sp.R_valid = false;
-			publish_att_sp = true;
+			_publish_att_sp = true;
 		}
 
 		/* reset yaw setpint to current position if needed */
@@ -164,7 +139,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 			_reset_yaw_sp = false;
 			_v_att_sp.yaw_body = _v_att.yaw;
 			_v_att_sp.R_valid = false;
-			publish_att_sp = true;
+			_publish_att_sp = true;
 		}
 
 		if (!_v_control_mode.flag_control_velocity_enabled) {
@@ -173,7 +148,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 			_v_att_sp.pitch_body = -_manual_control_sp.x
 					* _params.man_pitch_max;
 			_v_att_sp.R_valid = false;
-			publish_att_sp = true;
+			_publish_att_sp = true;
 		}
 
 	} else {
@@ -204,20 +179,6 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) {
 		_v_att_sp.R_valid = true;
 	}
 
-//	/* 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);
-//		}
-//	}
-
 	/* rotation matrix for current state */
 	math::Matrix<3, 3> R;
 	R.set(_v_att.R);
@@ -340,64 +301,3 @@ void MulticopterAttitudeControlBase::set_actuator_controls() {
 	_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
 	_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
 }
-
-void MulticopterAttitudeControlBase::set_attitude(const Eigen::Quaternion<double> attitude) {
-	math::Quaternion quat;
-	quat(0) = (float)attitude.w();
-	quat(1) = (float)attitude.x();
-	quat(2) = (float)attitude.y();
-	quat(3) = (float)attitude.z();
-
-	_v_att.q[0] = quat(0);
-	_v_att.q[1] = quat(1);
-	_v_att.q[2] = quat(2);
-	_v_att.q[3] = quat(3);
-
-	math::Matrix<3,3> Rot = quat.to_dcm();
-	_v_att.R[0][0] = Rot(0,0);
-	_v_att.R[1][0] = Rot(1,0);
-	_v_att.R[2][0] = Rot(2,0);
-	_v_att.R[0][1] = Rot(0,1);
-	_v_att.R[1][1] = Rot(1,1);
-	_v_att.R[2][1] = Rot(2,1);
-	_v_att.R[0][2] = Rot(0,2);
-	_v_att.R[1][2] = Rot(1,2);
-	_v_att.R[2][2] = Rot(2,2);
-
-	_v_att.R_valid = true;
-}
-
-void MulticopterAttitudeControlBase::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
-	// check if this is consistent !!!
-	_v_att.rollspeed  = angular_rate(0);
-	_v_att.pitchspeed = angular_rate(1);
-	_v_att.yawspeed   = angular_rate(2);
-}
-
-void MulticopterAttitudeControlBase::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
-	_v_att_sp.roll_body  = control_attitude_thrust_reference(0);
-	_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
-	_v_att_sp.yaw_body   = control_attitude_thrust_reference(2);
-	_v_att_sp.thrust     = (control_attitude_thrust_reference(3) -30)*(-1)/30;
-
-	// setup rotation matrix
-	math::Matrix<3,3> Rot_sp;
-	Rot_sp.from_euler(_v_att_sp.roll_body,_v_att_sp.pitch_body,_v_att_sp.yaw_body);
-	_v_att_sp.R_body[0][0] = Rot_sp(0,0);
-	_v_att_sp.R_body[1][0] = Rot_sp(1,0);
-	_v_att_sp.R_body[2][0] = Rot_sp(2,0);
-	_v_att_sp.R_body[0][1] = Rot_sp(0,1);
-	_v_att_sp.R_body[1][1] = Rot_sp(1,1);
-	_v_att_sp.R_body[2][1] = Rot_sp(2,1);
-	_v_att_sp.R_body[0][2] = Rot_sp(0,2);
-	_v_att_sp.R_body[1][2] = Rot_sp(1,2);
-	_v_att_sp.R_body[2][2] = Rot_sp(2,2);
-}
-
-void MulticopterAttitudeControlBase::get_mixer_input(Eigen::Vector4d& motor_inputs) {
-	motor_inputs(0) = _actuators.control[0];
-	motor_inputs(1) = _actuators.control[1];
-	motor_inputs(2) = _actuators.control[2];
-	motor_inputs(3) = _actuators.control[3];
-}
-
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 515fb0c14..009f76268 100644
--- a/src/modules/mc_att_control/mc_att_control_base.h
+++ b/src/modules/mc_att_control/mc_att_control_base.h
@@ -34,7 +34,7 @@
 
 /**
  * @file mc_att_control_base.h
- * 
+ *
  * @author Roman Bapst <bapstr@ethz.ch>
  *
  */
@@ -83,12 +83,7 @@ public:
 	 */
 	void control_attitude(float dt);
 	void control_attitude_rates(float dt);
-	
-	 // setters and getters for interface with euroc-gazebo simulator
-	void set_attitude(const Eigen::Quaternion<double> attitude);
-	void set_attitude_rates(const Eigen::Vector3d& angular_rate);
-	void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
-	void get_mixer_input(Eigen::Vector4d& motor_inputs);
+
 	void set_actuator_controls();
 
 protected:
@@ -105,8 +100,6 @@ protected:
 	struct actuator_controls_s _actuators; /**< actuator controls */
 	struct actuator_armed_s _armed; /**< actuator arming status */
 
-	perf_counter_t _loop_perf; /**< loop performance counter */
-
 	math::Vector<3> _rates_prev; /**< angular rates on previous step */
 	math::Vector<3> _rates_sp; /**< angular rates setpoint */
 	math::Vector<3> _rates_int; /**< angular rates integral error */
@@ -130,8 +123,10 @@ protected:
 		float man_yaw_max;
 		math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
 	} _params;
-	
-	void vehicle_attitude_setpoint_poll();	//provisional
+
+	bool _publish_att_sp;
+
+	virtual void vehicle_attitude_setpoint_poll() = 0;
 
 };
 
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 19c10198c..4709f0487 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -75,6 +75,7 @@
 #include <systemlib/circuit_breaker.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/geo/geo.h>
+#include "mc_att_control_base.h"
 
 /**
  * Multicopter attitude control app start / stop handling function
@@ -87,7 +88,8 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
 #define MIN_TAKEOFF_THRUST    0.2f
 #define RATES_I_LIMIT	0.3f
 
-class MulticopterAttitudeControl
+class MulticopterAttitudeControl :
+	public MulticopterAttitudeControlBase
 {
 public:
 	/**
@@ -108,7 +110,6 @@ public:
 	int		start();
 
 private:
-
 	bool	_task_should_exit;		/**< if true, sensor task should exit */
 	int		_control_task;			/**< task handle for sensor task */
 
@@ -124,28 +125,6 @@ private:
 	orb_advert_t	_v_rates_sp_pub;		/**< rate setpoint publication */
 	orb_advert_t	_actuators_0_pub;		/**< attitude actuator controls publication */
 
-	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
-
-	struct vehicle_attitude_s			_v_att;				/**< vehicle attitude */
-	struct vehicle_attitude_setpoint_s	_v_att_sp;			/**< vehicle attitude setpoint */
-	struct vehicle_rates_setpoint_s		_v_rates_sp;		/**< vehicle rates setpoint */
-	struct manual_control_setpoint_s	_manual_control_sp;	/**< manual control setpoint */
-	struct vehicle_control_mode_s		_v_control_mode;	/**< vehicle control mode */
-	struct actuator_controls_s			_actuators;			/**< actuator controls */
-	struct actuator_armed_s				_armed;				/**< actuator arming status */
-
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-
-	math::Vector<3>		_rates_prev;	/**< angular rates on previous step */
-	math::Vector<3>		_rates_sp;		/**< angular rates setpoint */
-	math::Vector<3>		_rates_int;		/**< angular rates integral error */
-	float				_thrust_sp;		/**< thrust setpoint */
-	math::Vector<3>		_att_control;	/**< attitude control vector */
-
-	math::Matrix<3, 3>  _I;				/**< identity matrix */
-
-	bool	_reset_yaw_sp;			/**< reset yaw setpoint flag */
-
 	struct {
 		param_t roll_p;
 		param_t roll_rate_p;
@@ -170,19 +149,7 @@ private:
 		param_t acro_yaw_max;
 	}		_params_handles;		/**< handles for interesting parameters */
 
-	struct {
-		math::Vector<3> att_p;					/**< P gain for angular error */
-		math::Vector<3> rate_p;				/**< P gain for angular rate error */
-		math::Vector<3> rate_i;				/**< I gain for angular rate error */
-		math::Vector<3> rate_d;				/**< D gain for angular rate error */
-		float yaw_ff;						/**< yaw control feed-forward */
-		float yaw_rate_max;					/**< max yaw rate */
-
-		float man_roll_max;
-		float man_pitch_max;
-		float man_yaw_max;
-		math::Vector<3> acro_rate_max;		/**< max attitude rates in acro mode */
-	}		_params;
+	perf_counter_t _loop_perf; /**< loop performance counter */
 
 	/**
 	 * Update our local parameter cache.
@@ -220,16 +187,6 @@ private:
 	void		arming_status_poll();
 
 	/**
-	 * Attitude controller.
-	 */
-	void		control_attitude(float dt);
-
-	/**
-	 * Attitude rates controller.
-	 */
-	void		control_attitude_rates(float dt);
-
-	/**
 	 * Shim for calling task_main from task_create.
 	 */
 	static void	task_main_trampoline(int argc, char *argv[]);
@@ -253,11 +210,8 @@ MulticopterAttitudeControl	*g_control;
 }
 
 MulticopterAttitudeControl::MulticopterAttitudeControl() :
-
-	_task_should_exit(false),
-	_control_task(-1),
-
-/* subscriptions */
+	MulticopterAttitudeControlBase(),
+	/* subscriptions */
 	_v_att_sub(-1),
 	_v_att_sp_sub(-1),
 	_v_control_mode_sub(-1),
@@ -265,14 +219,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_manual_control_sp_sub(-1),
 	_armed_sub(-1),
 
-/* publications */
+	/* publications */
 	_att_sp_pub(-1),
 	_v_rates_sp_pub(-1),
 	_actuators_0_pub(-1),
 
-	_actuators_0_circuit_breaker_enabled(false),
-
-/* performance counters */
+	/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
 
 {
@@ -489,229 +441,6 @@ MulticopterAttitudeControl::arming_status_poll()
 	}
 }
 
-/*
- * Attitude controller.
- * Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode)
- * Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes)
- */
-void
-MulticopterAttitudeControl::control_attitude(float dt)
-{
-	float yaw_sp_move_rate = 0.0f;
-	bool publish_att_sp = false;
-
-	if (_v_control_mode.flag_control_manual_enabled) {
-		/* manual input, set or modify attitude setpoint */
-
-		if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) {
-			/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
-			vehicle_attitude_setpoint_poll();
-		}
-
-		if (!_v_control_mode.flag_control_climb_rate_enabled) {
-			/* pass throttle directly if not in altitude stabilized mode */
-			_v_att_sp.thrust = _manual_control_sp.z;
-			publish_att_sp = true;
-		}
-
-		if (!_armed.armed) {
-			/* reset yaw setpoint when disarmed */
-			_reset_yaw_sp = true;
-		}
-
-		/* move yaw setpoint in all modes */
-		if (_v_att_sp.thrust < 0.1f) {
-			// TODO
-			//if (_status.condition_landed) {
-			/* reset yaw setpoint if on ground */
-			//	reset_yaw_sp = true;
-			//}
-		} else {
-			/* move yaw setpoint */
-			yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
-			_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
-			float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
-			float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
-			if (yaw_offs < - yaw_offs_max) {
-				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
-
-			} else if (yaw_offs > yaw_offs_max) {
-				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
-			}
-			_v_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;
-			_v_att_sp.yaw_body = _v_att.yaw;
-			_v_att_sp.R_valid = false;
-			publish_att_sp = true;
-		}
-
-		if (!_v_control_mode.flag_control_velocity_enabled) {
-			/* update attitude setpoint if not in position control mode */
-			_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
-			_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
-			_v_att_sp.R_valid = false;
-			publish_att_sp = true;
-		}
-
-	} else {
-		/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
-		vehicle_attitude_setpoint_poll();
-
-		/* reset yaw setpoint after non-manual control mode */
-		_reset_yaw_sp = true;
-	}
-
-	_thrust_sp = _v_att_sp.thrust;
-
-	/* construct attitude setpoint rotation matrix */
-	math::Matrix<3, 3> R_sp;
-
-	if (_v_att_sp.R_valid) {
-		/* rotation matrix in _att_sp is valid, use it */
-		R_sp.set(&_v_att_sp.R_body[0][0]);
-
-	} else {
-		/* rotation matrix in _att_sp is not valid, use euler angles instead */
-		R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
-
-		/* copy rotation matrix back to setpoint struct */
-		memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body));
-		_v_att_sp.R_valid = true;
-	}
-
-	/* 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);
-		}
-	}
-
-	/* rotation matrix for current state */
-	math::Matrix<3, 3> R;
-	R.set(_v_att.R);
-
-	/* all input data is ready, run controller itself */
-
-	/* 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 */
-		math::Quaternion q;
-		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;
-	}
-
-	/* calculate angular rates setpoint */
-	_rates_sp = _params.att_p.emult(e_R);
-
-	/* limit yaw rate */
-	_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
-
-	/* feed forward yaw setpoint rate */
-	_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
-}
-
-/*
- * Attitude rates controller.
- * Input: '_rates_sp' vector, '_thrust_sp'
- * Output: '_att_control' vector
- */
-void
-MulticopterAttitudeControl::control_attitude_rates(float dt)
-{
-	/* reset integral if disarmed */
-	if (!_armed.armed) {
-		_rates_int.zero();
-	}
-
-	/* current body angular rates */
-	math::Vector<3> rates;
-	rates(0) = _v_att.rollspeed;
-	rates(1) = _v_att.pitchspeed;
-	rates(2) = _v_att.yawspeed;
-
-	/* angular rates error */
-	math::Vector<3> rates_err = _rates_sp - rates;
-	_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
-	_rates_prev = rates;
-
-	/* update integral only if not saturated on low limit */
-	if (_thrust_sp > MIN_TAKEOFF_THRUST) {
-		for (int i = 0; i < 3; i++) {
-			if (fabsf(_att_control(i)) < _thrust_sp) {
-				float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
-
-				if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
-				    _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
-					_rates_int(i) = rate_i;
-				}
-			}
-		}
-	}
-}
-
 void
 MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
 {
@@ -789,6 +518,19 @@ MulticopterAttitudeControl::task_main()
 			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);
diff --git a/src/modules/mc_att_control/mc_att_control_sim.cpp b/src/modules/mc_att_control/mc_att_control_sim.cpp
new file mode 100644
index 000000000..61a4237fc
--- /dev/null
+++ b/src/modules/mc_att_control/mc_att_control_sim.cpp
@@ -0,0 +1,107 @@
+/* Copyright (c) 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_base.h
+ *
+ * @author Roman Bapst <bapstr@ethz.ch>
+ *
+ */
+
+#include "mc_att_control_sim.h"
+#include <geo/geo.h>
+#include <math.h>
+
+#ifdef CONFIG_ARCH_ARM
+#else
+#include <cmath>
+using namespace std;
+#endif
+
+void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude) {
+	math::Quaternion quat;
+	quat(0) = (float)attitude.w();
+	quat(1) = (float)attitude.x();
+	quat(2) = (float)attitude.y();
+	quat(3) = (float)attitude.z();
+
+	_v_att.q[0] = quat(0);
+	_v_att.q[1] = quat(1);
+	_v_att.q[2] = quat(2);
+	_v_att.q[3] = quat(3);
+
+	math::Matrix<3,3> Rot = quat.to_dcm();
+	_v_att.R[0][0] = Rot(0,0);
+	_v_att.R[1][0] = Rot(1,0);
+	_v_att.R[2][0] = Rot(2,0);
+	_v_att.R[0][1] = Rot(0,1);
+	_v_att.R[1][1] = Rot(1,1);
+	_v_att.R[2][1] = Rot(2,1);
+	_v_att.R[0][2] = Rot(0,2);
+	_v_att.R[1][2] = Rot(1,2);
+	_v_att.R[2][2] = Rot(2,2);
+
+	_v_att.R_valid = true;
+}
+
+void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d& angular_rate) {
+	// check if this is consistent !!!
+	_v_att.rollspeed  = angular_rate(0);
+	_v_att.pitchspeed = angular_rate(1);
+	_v_att.yawspeed   = angular_rate(2);
+}
+
+void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference) {
+	_v_att_sp.roll_body  = control_attitude_thrust_reference(0);
+	_v_att_sp.pitch_body = control_attitude_thrust_reference(1);
+	_v_att_sp.yaw_body   = control_attitude_thrust_reference(2);
+	_v_att_sp.thrust     = (control_attitude_thrust_reference(3) -30)*(-1)/30;
+
+	// setup rotation matrix
+	math::Matrix<3,3> Rot_sp;
+	Rot_sp.from_euler(_v_att_sp.roll_body,_v_att_sp.pitch_body,_v_att_sp.yaw_body);
+	_v_att_sp.R_body[0][0] = Rot_sp(0,0);
+	_v_att_sp.R_body[1][0] = Rot_sp(1,0);
+	_v_att_sp.R_body[2][0] = Rot_sp(2,0);
+	_v_att_sp.R_body[0][1] = Rot_sp(0,1);
+	_v_att_sp.R_body[1][1] = Rot_sp(1,1);
+	_v_att_sp.R_body[2][1] = Rot_sp(2,1);
+	_v_att_sp.R_body[0][2] = Rot_sp(0,2);
+	_v_att_sp.R_body[1][2] = Rot_sp(1,2);
+	_v_att_sp.R_body[2][2] = Rot_sp(2,2);
+}
+
+void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d& motor_inputs) {
+	motor_inputs(0) = _actuators.control[0];
+	motor_inputs(1) = _actuators.control[1];
+	motor_inputs(2) = _actuators.control[2];
+	motor_inputs(3) = _actuators.control[3];
+}
diff --git a/src/modules/mc_att_control/mc_att_control_sim.h b/src/modules/mc_att_control/mc_att_control_sim.h
new file mode 100644
index 000000000..20752b054
--- /dev/null
+++ b/src/modules/mc_att_control/mc_att_control_sim.h
@@ -0,0 +1,95 @@
+#ifndef MC_ATT_CONTROL_BASE_H_
+#define MC_ATT_CONTROL_BASE_H_
+
+/* Copyright (c) 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_base.h
+ *
+ * @author Roman Bapst <bapstr@ethz.ch>
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <math.h>
+#include <drivers/drv_hrt.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 <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+#include <lib/mathlib/mathlib.h>
+#inlcude "mc_att_control_base.h"
+
+
+
+#define YAW_DEADZONE	0.05f
+#define MIN_TAKEOFF_THRUST    0.2f
+#define RATES_I_LIMIT	0.3f
+
+class MulticopterAttitudeControlSim :
+	public MulticopterAttitudeControlBase
+
+{
+public:
+	/**
+	 * Constructor
+	 */
+	MulticopterAttitudeControlSim();
+
+	/**
+	 * Destructor
+	 */
+	~MulticopterAttitudeControlSim();
+
+	/* setters and getters for interface with euroc-gazebo simulator */
+	void set_attitude(const Eigen::Quaternion<double> attitude);
+	void set_attitude_rates(const Eigen::Vector3d& angular_rate);
+	void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
+	void get_mixer_input(Eigen::Vector4d& motor_inputs);
+
+protected:
+	void vehicle_attitude_setpoint_poll() {};
+
+
+};
+
+#endif /* MC_ATT_CONTROL_BASE_H_ */
diff --git a/src/modules/mc_att_control/module.mk b/src/modules/mc_att_control/module.mk
index 64b876f69..ecd251d45 100644
--- a/src/modules/mc_att_control/module.mk
+++ b/src/modules/mc_att_control/module.mk
@@ -38,4 +38,5 @@
 MODULE_COMMAND	= mc_att_control
 
 SRCS		= mc_att_control_main.cpp \
-			  mc_att_control_params.c
+		  mc_att_control_base.cpp \
+		  mc_att_control_params.c