1 files changed, 139 insertions, 0 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
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+++ b/src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
@@ -0,0 +1,139 @@
+/****************************************************************************
+ *
+ *   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_main.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>
+ *
+ * The controller has two loops: P loop for angular error and PD loop for angular rate error.
+ * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
+ * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
+ * so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
+ * These two approaches fused seamlessly with weight depending on angular error.
+ * When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
+ * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
+ */
+
+#include <string.h>
+#include <cstdlib>
+#include "mc_att_control.h"
+
+static bool thread_running = false;     /**< Deamon status flag */
+static int daemon_task;             /**< Handle of deamon task / thread */
+namespace px4
+{
+bool task_should_exit = false;
+}
+
+using namespace px4;
+
+PX4_MAIN_FUNCTION(mc_att_control_multiplatform);
+
+#if !defined(__linux) && !(defined(__APPLE__) && defined(__MACH__))
+/**
+ * Multicopter attitude control app start / stop handling function
+ *
+ * @ingroup apps
+ */
+
+extern "C" __EXPORT int mc_att_control_multiplatform_main(int argc, char *argv[]);
+int mc_att_control_multiplatform_main(int argc, char *argv[])
+{
+	if (argc < 1) {
+		errx(1, "usage: mc_att_control {start|stop|status}");
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("already running");
+			/* this is not an error */
+			exit(0);
+		}
+
+		task_should_exit = false;
+
+		daemon_task = task_spawn_cmd("mc_att_control",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       3000,
+				       mc_att_control_multiplatform_task_main,
+					(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		task_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("is running");
+
+		} else {
+			warnx("not started");
+		}
+
+		exit(0);
+	}
+
+	warnx("unrecognized command");
+	return 1;
+}
+#endif
+
+PX4_MAIN_FUNCTION(mc_att_control_multiplatform)
+{
+	px4::init(argc, argv, "mc_att_control_multiplatform");
+
+	PX4_INFO("starting");
+	MulticopterAttitudeControl attctl;
+	thread_running = true;
+	attctl.spin();
+
+	PX4_INFO("exiting.");
+	thread_running = false;
+	return 0;
+}
+
+