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diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
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+++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -0,0 +1,479 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Doug Weibel <douglas.weibel@colorado.edu>
+ *
+ * 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 fixedwing_pos_control.c
+ * Implementation of a fixed wing attitude controller.
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_setpoint.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/parameter_update.h>
+#include <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+
+/*
+ * Controller parameters, accessible via MAVLink
+ *
+ */
+PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
+PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track
+PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians
+PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); /**< Pitch angle limit in radians per second */
+
+struct fw_pos_control_params {
+ float heading_p;
+ float headingr_p;
+ float headingr_i;
+ float headingr_lim;
+ float xtrack_p;
+ float altitude_p;
+ float roll_lim;
+ float pitch_lim;
+};
+
+struct fw_pos_control_param_handles {
+ param_t heading_p;
+ param_t headingr_p;
+ param_t headingr_i;
+ param_t headingr_lim;
+ param_t xtrack_p;
+ param_t altitude_p;
+ param_t roll_lim;
+ param_t pitch_lim;
+};
+
+
+struct planned_path_segments_s {
+ bool segment_type;
+ double start_lat; // Start of line or center of arc
+ double start_lon;
+ double end_lat;
+ double end_lon;
+ float radius; // Radius of arc
+ float arc_start_bearing; // Bearing from center to start of arc
+ float arc_sweep; // Angle (radians) swept out by arc around center.
+ // Positive for clockwise, negative for counter-clockwise
+};
+
+
+/* Prototypes */
+/* Internal Prototypes */
+static int parameters_init(struct fw_pos_control_param_handles *h);
+static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
+
+/**
+ * Deamon management function.
+ */
+__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int fixedwing_pos_control_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+/* Variables */
+static bool thread_should_exit = false; /**< Deamon exit flag */
+static bool thread_running = false; /**< Deamon status flag */
+static int deamon_task; /**< Handle of deamon task / thread */
+
+
+/**
+ * Parameter management
+ */
+static int parameters_init(struct fw_pos_control_param_handles *h)
+{
+ /* PID parameters */
+ h->heading_p = param_find("FW_HEAD_P");
+ h->headingr_p = param_find("FW_HEADR_P");
+ h->headingr_i = param_find("FW_HEADR_I");
+ h->headingr_lim = param_find("FW_HEADR_LIM");
+ h->xtrack_p = param_find("FW_XTRACK_P");
+ h->altitude_p = param_find("FW_ALT_P");
+ h->roll_lim = param_find("FW_ROLL_LIM");
+ h->pitch_lim = param_find("FW_PITCH_LIM");
+
+ return OK;
+}
+
+static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
+{
+ param_get(h->heading_p, &(p->heading_p));
+ param_get(h->headingr_p, &(p->headingr_p));
+ param_get(h->headingr_i, &(p->headingr_i));
+ param_get(h->headingr_lim, &(p->headingr_lim));
+ param_get(h->xtrack_p, &(p->xtrack_p));
+ param_get(h->altitude_p, &(p->altitude_p));
+ param_get(h->roll_lim, &(p->roll_lim));
+ param_get(h->pitch_lim, &(p->pitch_lim));
+
+ return OK;
+}
+
+
+/* Main Thread */
+int fixedwing_pos_control_thread_main(int argc, char *argv[])
+{
+ /* read arguments */
+ bool verbose = false;
+
+ for (int i = 1; i < argc; i++) {
+ if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+ verbose = true;
+ }
+ }
+
+ /* welcome user */
+ printf("[fixedwing pos control] started\n");
+
+ /* declare and safely initialize all structs */
+ struct vehicle_global_position_s global_pos;
+ memset(&global_pos, 0, sizeof(global_pos));
+ struct vehicle_global_position_s start_pos; // Temporary variable, replace with
+ memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available
+ struct vehicle_global_position_setpoint_s global_setpoint;
+ memset(&global_setpoint, 0, sizeof(global_setpoint));
+ struct vehicle_attitude_s att;
+ memset(&att, 0, sizeof(att));
+ struct crosstrack_error_s xtrack_err;
+ memset(&xtrack_err, 0, sizeof(xtrack_err));
+ struct parameter_update_s param_update;
+ memset(&param_update, 0, sizeof(param_update));
+
+ /* output structs */
+ struct vehicle_attitude_setpoint_s attitude_setpoint;
+ memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
+
+ /* publish attitude setpoint */
+ attitude_setpoint.roll_body = 0.0f;
+ attitude_setpoint.pitch_body = 0.0f;
+ attitude_setpoint.yaw_body = 0.0f;
+ attitude_setpoint.thrust = 0.0f;
+ orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
+
+ /* subscribe */
+ int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+ int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+ int param_sub = orb_subscribe(ORB_ID(parameter_update));
+
+ /* Setup of loop */
+ struct pollfd fds[2] = {
+ { .fd = param_sub, .events = POLLIN },
+ { .fd = att_sub, .events = POLLIN }
+ };
+ bool global_sp_updated_set_once = false;
+
+ float psi_track = 0.0f;
+
+ int counter = 0;
+
+ struct fw_pos_control_params p;
+ struct fw_pos_control_param_handles h;
+
+ PID_t heading_controller;
+ PID_t heading_rate_controller;
+ PID_t offtrack_controller;
+ PID_t altitude_controller;
+
+ parameters_init(&h);
+ parameters_update(&h, &p);
+ pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
+ pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
+ pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
+ pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
+
+ /* error and performance monitoring */
+ perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
+ perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
+
+ while (!thread_should_exit) {
+ /* wait for a sensor update, check for exit condition every 500 ms */
+ int ret = poll(fds, 2, 500);
+
+ if (ret < 0) {
+ /* poll error, count it in perf */
+ perf_count(fw_err_perf);
+
+ } else if (ret == 0) {
+ /* no return value, ignore */
+ } else {
+
+ /* only update parameters if they changed */
+ if (fds[0].revents & POLLIN) {
+ /* read from param to clear updated flag */
+ struct parameter_update_s update;
+ orb_copy(ORB_ID(parameter_update), param_sub, &update);
+
+ /* update parameters from storage */
+ parameters_update(&h, &p);
+ pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
+ pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
+ pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
+ pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
+ }
+
+ /* only run controller if attitude changed */
+ if (fds[1].revents & POLLIN) {
+
+
+ static uint64_t last_run = 0;
+ const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+ last_run = hrt_absolute_time();
+
+ /* check if there is a new position or setpoint */
+ bool pos_updated;
+ orb_check(global_pos_sub, &pos_updated);
+ bool global_sp_updated;
+ orb_check(global_setpoint_sub, &global_sp_updated);
+
+ /* load local copies */
+ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+ if (pos_updated) {
+ orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+ }
+
+ if (global_sp_updated) {
+ orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
+ start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
+ global_sp_updated_set_once = true;
+ psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+ (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
+
+ printf("next wp direction: %0.4f\n", (double)psi_track);
+ }
+
+ /* Simple Horizontal Control */
+ if (global_sp_updated_set_once) {
+ // if (counter % 100 == 0)
+ // printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
+
+ /* calculate crosstrack error */
+ // Only the case of a straight line track following handled so far
+ int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+ (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
+ (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
+
+ // XXX what is xtrack_err.past_end?
+ if (distance_res == OK /*&& !xtrack_err.past_end*/) {
+
+ float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
+
+ float psi_c = psi_track + delta_psi_c;
+ float psi_e = psi_c - att.yaw;
+
+ /* wrap difference back onto -pi..pi range */
+ psi_e = _wrap_pi(psi_e);
+
+ if (verbose) {
+ printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
+ printf("delta_psi_c %.4f ", (double)delta_psi_c);
+ printf("psi_c %.4f ", (double)psi_c);
+ printf("att.yaw %.4f ", (double)att.yaw);
+ printf("psi_e %.4f ", (double)psi_e);
+ }
+
+ /* calculate roll setpoint, do this artificially around zero */
+ float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+ float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
+ float psi_rate_c = delta_psi_rate_c + psi_rate_track;
+
+ /* limit turn rate */
+ if (psi_rate_c > p.headingr_lim) {
+ psi_rate_c = p.headingr_lim;
+
+ } else if (psi_rate_c < -p.headingr_lim) {
+ psi_rate_c = -p.headingr_lim;
+ }
+
+ float psi_rate_e = psi_rate_c - att.yawspeed;
+
+ // XXX sanity check: Assume 10 m/s stall speed and no stall condition
+ float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
+
+ if (ground_speed < 10.0f) {
+ ground_speed = 10.0f;
+ }
+
+ float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
+
+ attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
+
+ if (verbose) {
+ printf("psi_rate_c %.4f ", (double)psi_rate_c);
+ printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
+ printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
+ }
+
+ if (verbose && counter % 100 == 0)
+ printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
+
+ } else {
+ if (verbose && counter % 100 == 0)
+ printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
+ }
+
+ /* Very simple Altitude Control */
+ if (pos_updated) {
+
+ //TODO: take care of relative vs. ab. altitude
+ attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+
+ }
+
+ // XXX need speed control
+ attitude_setpoint.thrust = 0.7f;
+
+ /* publish the attitude setpoint */
+ orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
+
+ /* measure in what intervals the controller runs */
+ perf_count(fw_interval_perf);
+
+ counter++;
+
+ } else {
+ // XXX no setpoint, decent default needed (loiter?)
+ }
+ }
+ }
+ }
+
+ printf("[fixedwing_pos_control] exiting.\n");
+ thread_running = false;
+
+
+ close(attitude_setpoint_pub);
+
+ fflush(stdout);
+ exit(0);
+
+ return 0;
+
+}
+
+/* Startup Functions */
+
+static void
+usage(const char *reason)
+{
+ if (reason)
+ fprintf(stderr, "%s\n", reason);
+
+ fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
+ exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int fixedwing_pos_control_main(int argc, char *argv[])
+{
+ if (argc < 1)
+ usage("missing command");
+
+ if (!strcmp(argv[1], "start")) {
+
+ if (thread_running) {
+ printf("fixedwing_pos_control already running\n");
+ /* this is not an error */
+ exit(0);
+ }
+
+ thread_should_exit = false;
+ deamon_task = task_spawn("fixedwing_pos_control",
+ SCHED_DEFAULT,
+ SCHED_PRIORITY_MAX - 20,
+ 2048,
+ fixedwing_pos_control_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ thread_running = true;
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "stop")) {
+ thread_should_exit = true;
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "status")) {
+ if (thread_running) {
+ printf("\tfixedwing_pos_control is running\n");
+
+ } else {
+ printf("\tfixedwing_pos_control not started\n");
+ }
+
+ exit(0);
+ }
+
+ usage("unrecognized command");
+ exit(1);
+}
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