From 5876ff11ec90ca8dee22ee0509ffaec2b561d2fd Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 5 Jan 2015 16:12:15 +0100
Subject: mc att control multiplatform alongside normal mc att control

---
 .../mc_att_control_sim.h                           | 97 ++++++++++++++++++++++
 1 file changed, 97 insertions(+)
 create mode 100644 src/modules/mc_att_control_multiplatform/mc_att_control_sim.h

(limited to 'src/modules/mc_att_control_multiplatform/mc_att_control_sim.h')

diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_sim.h b/src/modules/mc_att_control_multiplatform/mc_att_control_sim.h
new file mode 100644
index 000000000..a1bf44fc9
--- /dev/null
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control_sim.h
@@ -0,0 +1,97 @@
+#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_sim.h
+ *
+ * MC Attitude Controller Interface for usage in a simulator
+ *
+ * @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_ */
-- 
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