fw att control: cleanup, create base class for ECL

Adding a new base class to remove a lot of boilerplate code, no
functionality changes

10 files changed, 403 insertions, 330 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_controller.cpp b/src/lib/ecl/attitude_fw/ecl_controller.cpp
new file mode 100644
index 000000000..46140fbfd
--- /dev/null
+++ b/src/lib/ecl/attitude_fw/ecl_controller.cpp
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_controller.cpp
+ * Definition of base class for other controllers
+ *
+ * @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.
+ */
+
+#include "ecl_controller.h"
+
+#include <stdio.h>
+
+ECL_Controller::ECL_Controller(const char *name) :
+	_last_run(0),
+	_tc(0.1f),
+	_k_p(0.0f),
+	_k_i(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),
+	_bodyrate_setpoint(0.0f),
+	_perf_name()
+{
+	/* Init performance counter */
+	snprintf(_perf_name, sizeof(_perf_name), "fw att control %s nonfinite input", name);
+	_nonfinite_input_perf = perf_alloc(PC_COUNT, _perf_name);
+}
+
+ECL_Controller::~ECL_Controller()
+{
+	perf_free(_nonfinite_input_perf);
+}
+
+void ECL_Controller::reset_integrator()
+{
+	_integrator = 0.0f;
+}
+
+void ECL_Controller::set_time_constant(float time_constant)
+{
+	if (time_constant > 0.1f && time_constant < 3.0f) {
+		_tc = time_constant;
+	}
+}
+
+void ECL_Controller::set_k_p(float k_p)
+{
+	_k_p = k_p;
+}
+
+void ECL_Controller::set_k_i(float k_i)
+{
+	_k_i = k_i;
+}
+
+void ECL_Controller::set_k_ff(float k_ff)
+{
+	_k_ff = k_ff;
+}
+
+void ECL_Controller::set_integrator_max(float max)
+{
+	_integrator_max = max;
+}
+
+void ECL_Controller::set_max_rate(float max_rate)
+{
+	_max_rate = max_rate;
+}
+
+float ECL_Controller::get_rate_error()
+{
+	return _rate_error;
+}
+
+float ECL_Controller::get_desired_rate()
+{
+	return _rate_setpoint;
+}
+
+float ECL_Controller::get_desired_bodyrate()
+{
+	return _bodyrate_setpoint;
+}
diff --git a/src/lib/ecl/attitude_fw/ecl_controller.h b/src/lib/ecl/attitude_fw/ecl_controller.h
new file mode 100644
index 000000000..9880d1c17
--- /dev/null
+++ b/src/lib/ecl/attitude_fw/ecl_controller.h
@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_controller.h
+ * Definition of base class for other controllers
+ *
+ * @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.
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <systemlib/perf_counter.h>
+
+struct ECL_ControlData {
+	float roll;
+	float pitch;
+	float yaw;
+	float roll_rate;
+	float pitch_rate;
+	float yaw_rate;
+	float speed_body_u;
+	float speed_body_v;
+	float speed_body_w;
+	float roll_setpoint;
+	float pitch_setpoint;
+	float yaw_setpoint;
+	float roll_rate_setpoint;
+	float pitch_rate_setpoint;
+	float yaw_rate_setpoint;
+	float airspeed_min;
+	float airspeed_max;
+	float airspeed;
+	float scaler;
+	bool lock_integrator;
+};
+
+class __EXPORT ECL_Controller
+{
+public:
+	ECL_Controller(const char *name);
+
+	~ECL_Controller();
+
+	virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
+	virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0;
+
+	/* Setters */
+	void set_time_constant(float time_constant);
+	void set_k_p(float k_p);
+	void set_k_i(float k_i);
+	void set_k_ff(float k_ff);
+	void set_integrator_max(float max);
+	void set_max_rate(float max_rate);
+
+	/* Getters */
+	float get_rate_error();
+	float get_desired_rate();
+	float get_desired_bodyrate();
+
+	void reset_integrator();
+
+protected:
+	uint64_t _last_run;
+	float _tc;
+	float _k_p;
+	float _k_i;
+	float _k_ff;
+	float _integrator_max;
+	float _max_rate;
+	float _last_output;
+	float _integrator;
+	float _rate_error;
+	float _rate_setpoint;
+	float _bodyrate_setpoint;
+	perf_counter_t _nonfinite_input_perf;
+	static const uint8_t _perf_name_max = 40;
+	char _perf_name[_perf_name_max];
+};
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 926a8db2a..add884146 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -48,33 +48,24 @@
 #include <systemlib/err.h>
 
 ECL_PitchController::ECL_PitchController() :
-	_last_run(0),
-	_tc(0.1f),
-	_k_p(0.0f),
-	_k_i(0.0f),
-	_k_ff(0.0f),
-	_integrator_max(0.0f),
-	_max_rate_pos(0.0f),
+	ECL_Controller("pitch"),
 	_max_rate_neg(0.0f),
-	_roll_ff(0.0f),
-	_last_output(0.0f),
-	_integrator(0.0f),
-	_rate_error(0.0f),
-	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input"))
+	_roll_ff(0.0f)
 {
 }
 
 ECL_PitchController::~ECL_PitchController()
 {
-	perf_free(_nonfinite_input_perf);
 }
 
-float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
+float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
+	float roll = ctl_data.roll;
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(pitch_setpoint) && isfinite(roll) && isfinite(pitch) && isfinite(airspeed))) {
+	if (!(isfinite(ctl_data.pitch_setpoint) &&
+				isfinite(roll) &&
+				isfinite(ctl_data.pitch) &&
+				isfinite(ctl_data.airspeed))) {
 		perf_count(_nonfinite_input_perf);
 		warnx("not controlling pitch");
 		return _rate_setpoint;
@@ -102,13 +93,13 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 
 	/* calculate the offset in the rate resulting from rolling  */
 	//xxx needs explanation and conversion to body angular rates or should be removed
-	float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) *
+	float turn_offset = fabsf((CONSTANTS_ONE_G / ctl_data.airspeed) *
 				tanf(roll) * sinf(roll)) * _roll_ff;
 	if (inverted)
 		turn_offset = -turn_offset;
 
 	/* Calculate the error */
-	float pitch_error = pitch_setpoint - pitch;
+	float pitch_error = ctl_data.pitch_setpoint - ctl_data.pitch;
 
 	/*  Apply P controller: rate setpoint from current error and time constant */
 	_rate_setpoint =  pitch_error / _tc;
@@ -117,9 +108,9 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 	_rate_setpoint += turn_offset;
 
 	/* limit the rate */ //XXX: move to body angluar rates
-	if (_max_rate_pos > 0.01f && _max_rate_neg > 0.01f) {
+	if (_max_rate > 0.01f && _max_rate_neg > 0.01f) {
 		if (_rate_setpoint > 0.0f) {
-			_rate_setpoint = (_rate_setpoint > _max_rate_pos) ? _max_rate_pos : _rate_setpoint;
+			_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
 		} else {
 			_rate_setpoint = (_rate_setpoint < -_max_rate_neg) ? -_max_rate_neg : _rate_setpoint;
 		}
@@ -129,15 +120,17 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 	return _rate_setpoint;
 }
 
-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)
+float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
-				isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) &&
-				isfinite(airspeed_max) && isfinite(scaler))) {
+	if (!(isfinite(ctl_data.roll) &&
+				isfinite(ctl_data.pitch) &&
+				isfinite(ctl_data.pitch_rate) &&
+				isfinite(ctl_data.yaw_rate) &&
+				isfinite(ctl_data.yaw_rate_setpoint) &&
+				isfinite(ctl_data.airspeed_min) &&
+				isfinite(ctl_data.airspeed_max) &&
+				isfinite(ctl_data.scaler))) {
 		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
@@ -148,28 +141,32 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	float dt = (float)dt_micros * 1e-6f;
 
 	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
 	/* input conditioning */
+	float airspeed = ctl_data.airspeed;
 	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;
+		airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+	} else if (airspeed < ctl_data.airspeed_min) {
+		airspeed = ctl_data.airspeed_min;
 	}
 
-	/* Transform setpoint to body angular rates */
-	_bodyrate_setpoint = cosf(roll) * _rate_setpoint + cosf(pitch) * sinf(roll) * yaw_rate_setpoint; //jacobian
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = cosf(ctl_data.roll) * _rate_setpoint +
+		cosf(ctl_data.pitch) * sinf(ctl_data.roll) * ctl_data.yaw_rate_setpoint;
 
-	/* Transform estimation to body angular rates */
-	float pitch_bodyrate = cosf(roll) * pitch_rate + cosf(pitch) * sinf(roll) * yaw_rate; //jacobian
+	/* Transform estimation to body angular rates (jacobian) */
+	float pitch_bodyrate = cosf(ctl_data.roll) * ctl_data.pitch_rate +
+		cosf(ctl_data.pitch) * sinf(ctl_data.roll) * ctl_data.yaw_rate;
 
 	_rate_error = _bodyrate_setpoint - pitch_bodyrate;
 
-	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
 
-		float id = _rate_error * dt * scaler;
+		float id = _rate_error * dt * ctl_data.scaler;
 
 		/*
 		 * anti-windup: do not allow integrator to increase if actuator is at limit
@@ -190,15 +187,10 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	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 * scaler +
-		_rate_error * _k_p * scaler * scaler
+	_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
+		_rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
 		+ integrator_constrained;  //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()
-{
-	_integrator = 0.0f;
-}
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
index 39b9f9d03..47b5605e9 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -51,46 +51,23 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <systemlib/perf_counter.h>
 
-class __EXPORT ECL_PitchController //XXX: create controller superclass
+#include "ecl_controller.h"
+
+class __EXPORT ECL_PitchController :
+	public ECL_Controller
 {
 public:
 	ECL_PitchController();
 
 	~ECL_PitchController();
 
-	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();
-
-	void set_time_constant(float time_constant) {
-		_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_ff(float k_ff) {
-		_k_ff = k_ff;
-	}
-
-	void set_integrator_max(float max) {
-		_integrator_max = max;
-	}
+	float control_attitude(const struct ECL_ControlData &ctl_data);
+	float control_bodyrate(const struct ECL_ControlData &ctl_data);
 
+	/* Additional Setters */
 	void set_max_rate_pos(float max_rate_pos) {
-		_max_rate_pos = max_rate_pos;
+		_max_rate = max_rate_pos;
 	}
 
 	void set_max_rate_neg(float max_rate_neg) {
@@ -101,35 +78,9 @@ public:
 		_roll_ff = roll_ff;
 	}
 
-	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 _tc;
-	float _k_p;
-	float _k_i;
-	float _k_ff;
-	float _integrator_max;
-	float _max_rate_pos;
+protected:
 	float _max_rate_neg;
 	float _roll_ff;
-	float _last_output;
-	float _integrator;
-	float _rate_error;
-	float _rate_setpoint;
-	float _bodyrate_setpoint;
-	perf_counter_t _nonfinite_input_perf;
 };
 
 #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 94bd26f03..0606c87cb 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -48,37 +48,24 @@
 #include <systemlib/err.h>
 
 ECL_RollController::ECL_RollController() :
-	_last_run(0),
-	_tc(0.1f),
-	_k_p(0.0f),
-	_k_i(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),
-	_bodyrate_setpoint(0.0f),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input"))
+	ECL_Controller("roll")
 {
 }
 
 ECL_RollController::~ECL_RollController()
 {
-	perf_free(_nonfinite_input_perf);
 }
 
-float ECL_RollController::control_attitude(float roll_setpoint, float roll)
+float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(roll_setpoint) && isfinite(roll))) {
+	if (!(isfinite(ctl_data.roll_setpoint) && isfinite(ctl_data.roll))) {
 		perf_count(_nonfinite_input_perf);
 		return _rate_setpoint;
 	}
 
 	/* Calculate error */
-	float roll_error = roll_setpoint - roll;
+	float roll_error = ctl_data.roll_setpoint - ctl_data.roll;
 
 	/* Apply P controller */
 	_rate_setpoint = roll_error / _tc;
@@ -92,15 +79,16 @@ float ECL_RollController::control_attitude(float roll_setpoint, float roll)
 	return _rate_setpoint;
 }
 
-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)
+float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) &&
-			isfinite(airspeed_min) && isfinite(airspeed_max) &&
-			isfinite(scaler))) {
+	if (!(isfinite(ctl_data.pitch) &&
+				isfinite(ctl_data.roll_rate) &&
+				isfinite(ctl_data.yaw_rate) &&
+				isfinite(ctl_data.yaw_rate_setpoint) &&
+				isfinite(ctl_data.airspeed_min) &&
+				isfinite(ctl_data.airspeed_max) &&
+				isfinite(ctl_data.scaler))) {
 		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
@@ -111,31 +99,31 @@ float ECL_RollController::control_bodyrate(float pitch,
 	float dt = (float)dt_micros * 1e-6f;
 
 	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
 	/* input conditioning */
-//	warnx("airspeed pre %.4f", (double)airspeed);
+	float airspeed = ctl_data.airspeed;
 	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;
+		airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+	} else if (airspeed < ctl_data.airspeed_min) {
+		airspeed = ctl_data.airspeed_min;
 	}
 
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = _rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint;
 
-	/* 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
+	/* Transform estimation to body angular rates (jacobian) */
+	float roll_bodyrate = ctl_data.roll_rate - sinf(ctl_data.pitch) * ctl_data.yaw_rate;
 
 	/* Calculate body angular rate error */
 	_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
 
-	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
 
-		float id = _rate_error * dt * scaler;
+		float id = _rate_error * dt * ctl_data.scaler;
 
 		/*
 		* anti-windup: do not allow integrator to increase if actuator is at limit
@@ -157,15 +145,9 @@ float ECL_RollController::control_bodyrate(float pitch,
 	//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 * scaler +
-		_rate_error * _k_p * scaler * scaler
+	_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
+		_rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
 		+ integrator_constrained;  //scaler is proportional to 1/airspeed
 
 	return math::constrain(_last_output, -1.0f, 1.0f);
 }
-
-void ECL_RollController::reset_integrator()
-{
-	_integrator = 0.0f;
-}
-
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
index 0799dbe03..6d07bab8a 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -51,76 +51,19 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <systemlib/perf_counter.h>
 
-class __EXPORT ECL_RollController //XXX: create controller superclass
+#include "ecl_controller.h"
+
+class __EXPORT ECL_RollController :
+	public ECL_Controller
 {
 public:
 	ECL_RollController();
 
 	~ECL_RollController();
 
-	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();
-
-	void set_time_constant(float time_constant) {
-		if (time_constant > 0.1f && time_constant < 3.0f) {
-			_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_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;
-	}
-
-	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 _tc;
-	float _k_p;
-	float _k_i;
-	float _k_ff;
-	float _integrator_max;
-	float _max_rate;
-	float _last_output;
-	float _integrator;
-	float _rate_error;
-	float _rate_setpoint;
-	float _bodyrate_setpoint;
-	perf_counter_t _nonfinite_input_perf;
+	float control_attitude(const struct ECL_ControlData &ctl_data);
+	float control_bodyrate(const struct ECL_ControlData &ctl_data);
 };
 
 #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 fe03b8065..82ba2c6c7 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -47,45 +47,43 @@
 #include <systemlib/err.h>
 
 ECL_YawController::ECL_YawController() :
-	_last_run(0),
-	_k_p(0.0f),
-	_k_i(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),
-	_bodyrate_setpoint(0.0f),
-	_coordinated_min_speed(1.0f),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input"))
+	ECL_Controller("yaw"),
+	_coordinated_min_speed(1.0f)
 {
 }
 
 ECL_YawController::~ECL_YawController()
 {
-	perf_free(_nonfinite_input_perf);
 }
 
-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)
+float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(roll) && isfinite(pitch) && isfinite(speed_body_u) && isfinite(speed_body_v) &&
-				isfinite(speed_body_w) && isfinite(roll_rate_setpoint) &&
-				isfinite(pitch_rate_setpoint))) {
+	if (!(isfinite(ctl_data.roll) &&
+				isfinite(ctl_data.pitch) &&
+				isfinite(ctl_data.speed_body_u) &&
+				isfinite(ctl_data.speed_body_v) &&
+				isfinite(ctl_data.speed_body_w) &&
+				isfinite(ctl_data.roll_rate_setpoint) &&
+				isfinite(ctl_data.pitch_rate_setpoint))) {
 		perf_count(_nonfinite_input_perf);
 		return _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 (sqrtf(ctl_data.speed_body_u * ctl_data.speed_body_u + ctl_data.speed_body_v * ctl_data.speed_body_v +
+				ctl_data.speed_body_w * ctl_data.speed_body_w) > _coordinated_min_speed) {
+		float denumerator = (ctl_data.speed_body_u * cosf(ctl_data.roll) * cosf(ctl_data.pitch) +
+				ctl_data.speed_body_w * sinf(ctl_data.pitch));
+
 		if(fabsf(denumerator) > FLT_EPSILON) {
-			_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
+			_rate_setpoint = (ctl_data.speed_body_w * ctl_data.roll_rate_setpoint +
+					9.81f * sinf(ctl_data.roll) * cosf(ctl_data.pitch) +
+					ctl_data.speed_body_u * ctl_data.pitch_rate_setpoint * sinf(ctl_data.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);
 		}
 
@@ -111,46 +109,49 @@ float ECL_YawController::control_attitude(float roll, float pitch,
 	return _rate_setpoint;
 }
 
-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)
+float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
-				isfinite(pitch_rate_setpoint) && isfinite(airspeed_min) &&
-				isfinite(airspeed_max) && isfinite(scaler))) {
+	if (!(isfinite(ctl_data.roll) && isfinite(ctl_data.pitch) && isfinite(ctl_data.pitch_rate) &&
+				isfinite(ctl_data.yaw_rate) && isfinite(ctl_data.pitch_rate_setpoint) &&
+				isfinite(ctl_data.airspeed_min) && isfinite(ctl_data.airspeed_max) &&
+				isfinite(ctl_data.scaler))) {
 		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
+
 	/* 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 */
+	bool lock_integrator = ctl_data.lock_integrator;
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
 	/* input conditioning */
+	float airspeed = ctl_data.airspeed;
 	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;
+	airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+	} else if (airspeed < ctl_data.airspeed_min) {
+	airspeed = ctl_data.airspeed_min;
 	}
 
 
-	/* Transform setpoint to body angular rates */
-	_bodyrate_setpoint = -sinf(roll) * pitch_rate_setpoint + cosf(roll)*cosf(pitch) * _rate_setpoint; //jacobian
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
+		cosf(ctl_data.roll)*cosf(ctl_data.pitch) * _rate_setpoint;
 
-	/* Transform estimation to body angular rates */
-	float yaw_bodyrate = -sinf(roll) * pitch_rate + cosf(roll)*cosf(pitch) * yaw_rate; //jacobian
+	/* Transform estimation to body angular rates (jacobian) */
+	float yaw_bodyrate = -sinf(ctl_data.roll) * ctl_data.pitch_rate +
+		cosf(ctl_data.roll)*cosf(ctl_data.pitch) * ctl_data.yaw_rate;
 
 	/* 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) {
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
 
 	float id = _rate_error * dt;
 
@@ -173,14 +174,9 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	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) * scaler * scaler;  //scaler is proportional to 1/airspeed
+	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler * ctl_data.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);
 
 
 	return math::constrain(_last_output, -1.0f, 1.0f);
 }
-
-void ECL_YawController::reset_integrator()
-{
-	_integrator = 0.0f;
-}
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index a360c14b8..37c03705e 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -50,79 +50,27 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <systemlib/perf_counter.h>
 
-class __EXPORT ECL_YawController //XXX: create controller superclass
+#include "ecl_controller.h"
+
+class __EXPORT ECL_YawController :
+	public ECL_Controller
 {
 public:
 	ECL_YawController();
 
 	~ECL_YawController();
 
-	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_p(float k_p) {
-			_k_p = k_p;
-	}
-
-	void set_k_i(float k_i) {
-		_k_i = k_i;
-	}
-
-	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;
-	}
+	float control_attitude(const struct ECL_ControlData &ctl_data);
+	float control_bodyrate(const struct ECL_ControlData &ctl_data);
 
+	/* Additional setters */
 	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_p;
-	float _k_i;
-	float _k_ff;
-	float _integrator_max;
-	float _max_rate;
-	float  _roll_ff;
-	float _last_output;
-	float _integrator;
-	float _rate_error;
-	float _rate_setpoint;
-	float _bodyrate_setpoint;
+protected:
 	float _coordinated_min_speed;
-	perf_counter_t _nonfinite_input_perf;
-
 };
 
 #endif // ECL_YAW_CONTROLLER_H
diff --git a/src/lib/ecl/module.mk b/src/lib/ecl/module.mk
index 93a5b511f..03974c950 100644
--- a/src/lib/ecl/module.mk
+++ b/src/lib/ecl/module.mk
@@ -35,7 +35,8 @@
 # Estimation and Control Library
 #
 
-SRCS		 = 	attitude_fw/ecl_pitch_controller.cpp \
+SRCS		 = 	attitude_fw/ecl_controller.cpp \
+			attitude_fw/ecl_pitch_controller.cpp \
 			attitude_fw/ecl_roll_controller.cpp \
 			attitude_fw/ecl_yaw_controller.cpp \
 			l1/ecl_l1_pos_controller.cpp
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 260b25a48..d2e993ba9 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -933,19 +933,38 @@ FixedwingAttitudeControl::task_main()
 					}
 				}
 
+				/* Prepare data for attitude controllers */
+				struct ECL_ControlData control_input = {};
+				control_input.roll = _att.roll;
+				control_input.pitch = _att.pitch;
+				control_input.yaw = _att.yaw;
+				control_input.roll_rate = _att.rollspeed;
+				control_input.pitch_rate = _att.pitchspeed;
+				control_input.yaw_rate = _att.yawspeed;
+				control_input.speed_body_u = speed_body_u;
+				control_input.speed_body_v = speed_body_v;
+				control_input.speed_body_w = speed_body_w;
+				control_input.roll_setpoint = roll_sp;
+				control_input.pitch_setpoint = pitch_sp;
+				control_input.airspeed_min = _parameters.airspeed_min;
+				control_input.airspeed_max = _parameters.airspeed_max;
+				control_input.airspeed = airspeed;
+				control_input.scaler = airspeed_scaling;
+				control_input.lock_integrator = lock_integrator;
+
 				/* Run attitude controllers */
 				if (isfinite(roll_sp) && isfinite(pitch_sp)) {
-					_roll_ctrl.control_attitude(roll_sp, _att.roll);
-					_pitch_ctrl.control_attitude(pitch_sp, _att.roll, _att.pitch, airspeed);
-					_yaw_ctrl.control_attitude(_att.roll, _att.pitch,
-							speed_body_u, speed_body_v, speed_body_w,
-							_roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
+					_roll_ctrl.control_attitude(control_input);
+					_pitch_ctrl.control_attitude(control_input);
+					_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
+
+					/* Update input data for rate controllers */
+					control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
+					control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate();
+					control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate();
 
 					/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
-					float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
-							_att.rollspeed, _att.yawspeed,
-							_yaw_ctrl.get_desired_rate(),
-							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
+					float roll_u = _roll_ctrl.control_bodyrate(control_input);
 					_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
 					if (!isfinite(roll_u)) {
 						_roll_ctrl.reset_integrator();
@@ -956,10 +975,7 @@ FixedwingAttitudeControl::task_main()
 						}
 					}
 
-					float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
-							_att.pitchspeed, _att.yawspeed,
-							_yaw_ctrl.get_desired_rate(),
-							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
+					float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
 					_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
 					if (!isfinite(pitch_u)) {
 						_pitch_ctrl.reset_integrator();
@@ -980,10 +996,7 @@ FixedwingAttitudeControl::task_main()
 						}
 					}
 
-					float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
-							_att.pitchspeed, _att.yawspeed,
-							_pitch_ctrl.get_desired_rate(),
-							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
+					float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
 					_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
 
 					/* add in manual rudder control */