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diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp
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+++ b/src/modules/mc_att_control/mc_att_control.cpp
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+/****************************************************************************
+ *
+ *   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);
+			}
+		}
+	}
+}