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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_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 "mc_att_control.h"
bool thread_running = false; /**< Deamon status flag */
int main(int argc, char **argv)
{
px4::init(argc, argv, "mc_att_control_m");
PX4_INFO("starting");
MulticopterAttitudeControl attctl;
thread_running = true;
attctl.spin();
PX4_INFO("exiting.");
thread_running = false;
return 0;
}
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