From 53e6d7eb9fc462d34b56cfd0c889ad0a195b2fef Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 26 Nov 2017 16:07:02 -0500
Subject: [PATCH] delete examples mc_att_control_multiplatform
---
.../CMakeLists.txt | 44 ----
.../mc_att_control.cpp | 249 ------------------
.../mc_att_control.h | 126 ---------
.../mc_att_control_base.cpp | 214 ---------------
.../mc_att_control_base.h | 131 ---------
.../mc_att_control_main.cpp | 78 ------
.../mc_att_control_params.c | 215 ---------------
.../mc_att_control_params.h | 62 -----
.../mc_att_control_sim.cpp | 142 ----------
.../mc_att_control_sim.h | 97 -------
.../mc_att_control_start_nuttx.cpp | 100 -------
11 files changed, 1458 deletions(-)
delete mode 100644 src/examples/mc_att_control_multiplatform/CMakeLists.txt
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control.cpp
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control.h
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control_base.h
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control_main.cpp
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control_params.c
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control_params.h
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control_sim.cpp
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control_sim.h
delete mode 100644 src/examples/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
diff --git a/src/examples/mc_att_control_multiplatform/CMakeLists.txt b/src/examples/mc_att_control_multiplatform/CMakeLists.txt
deleted file mode 100644
index d0feb3479d..0000000000
--- a/src/examples/mc_att_control_multiplatform/CMakeLists.txt
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2015 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.
-#
-############################################################################
-px4_add_module(
- MODULE examples__mc_att_control_multiplatform
- MAIN mc_att_control_m
- SRCS
- mc_att_control_main.cpp
- mc_att_control_start_nuttx.cpp
- mc_att_control.cpp
- mc_att_control_base.cpp
- DEPENDS
- platforms__common
- )
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control.cpp b/src/examples/mc_att_control_multiplatform/mc_att_control.cpp
deleted file mode 100644
index 1d36336f47..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control.cpp
+++ /dev/null
@@ -1,249 +0,0 @@
-/****************************************************************************
- *
- * 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"
-#include "mc_att_control_params.h"
-#include "math.h"
-
-#define YAW_DEADZONE 0.05f
-#define MIN_TAKEOFF_THRUST 0.2f
-#define RATES_I_LIMIT 0.3f
-
-MulticopterAttitudeControlMultiplatform::MulticopterAttitudeControlMultiplatform() :
- MulticopterAttitudeControlBase(),
- _actuators_0_circuit_breaker_enabled(false),
-
- /* publications */
- _v_rates_sp_pub(nullptr),
- _actuators_0_pub(nullptr),
- _n(_appState),
-
- /* parameters */
- _params_handles(
-{
- .roll_p = px4::ParameterFloat("MP_ROLL_P", PARAM_MP_ROLL_P_DEFAULT),
- .roll_rate_p = px4::ParameterFloat("MP_ROLLRATE_P", PARAM_MP_ROLLRATE_P_DEFAULT),
- .roll_rate_i = px4::ParameterFloat("MP_ROLLRATE_I", PARAM_MP_ROLLRATE_I_DEFAULT),
- .roll_rate_d = px4::ParameterFloat("MP_ROLLRATE_D", PARAM_MP_ROLLRATE_D_DEFAULT),
- .pitch_p = px4::ParameterFloat("MP_PITCH_P", PARAM_MP_PITCH_P_DEFAULT),
- .pitch_rate_p = px4::ParameterFloat("MP_PITCHRATE_P", PARAM_MP_PITCHRATE_P_DEFAULT),
- .pitch_rate_i = px4::ParameterFloat("MP_PITCHRATE_I", PARAM_MP_PITCHRATE_I_DEFAULT),
- .pitch_rate_d = px4::ParameterFloat("MP_PITCHRATE_D", PARAM_MP_PITCHRATE_D_DEFAULT),
- .yaw_p = px4::ParameterFloat("MP_YAW_P", PARAM_MP_YAW_P_DEFAULT),
- .yaw_rate_p = px4::ParameterFloat("MP_YAWRATE_P", PARAM_MP_YAWRATE_P_DEFAULT),
- .yaw_rate_i = px4::ParameterFloat("MP_YAWRATE_I", PARAM_MP_YAWRATE_I_DEFAULT),
- .yaw_rate_d = px4::ParameterFloat("MP_YAWRATE_D", PARAM_MP_YAWRATE_D_DEFAULT),
- .yaw_ff = px4::ParameterFloat("MP_YAW_FF", PARAM_MP_YAW_FF_DEFAULT),
- .yaw_rate_max = px4::ParameterFloat("MP_YAWRATE_MAX", PARAM_MP_YAWRATE_MAX_DEFAULT),
- .acro_roll_max = px4::ParameterFloat("MP_ACRO_R_MAX", PARAM_MP_ACRO_R_MAX_DEFAULT),
- .acro_pitch_max = px4::ParameterFloat("MP_ACRO_P_MAX", PARAM_MP_ACRO_P_MAX_DEFAULT),
- .acro_yaw_max = px4::ParameterFloat("MP_ACRO_Y_MAX", PARAM_MP_ACRO_Y_MAX_DEFAULT)
-}),
-
-/* performance counters */
-_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
-
-{
- /* fetch initial parameter values */
- parameters_update();
-
- /*
- * do subscriptions
- */
- _v_att = _n.subscribe<px4_vehicle_attitude>(&MulticopterAttitudeControlMultiplatform::handle_vehicle_attitude, this, 0);
- _v_att_sp = _n.subscribe<px4_vehicle_attitude_setpoint>(0);
- _v_rates_sp = _n.subscribe<px4_vehicle_rates_setpoint>(0);
- _v_control_mode = _n.subscribe<px4_vehicle_control_mode>(0);
- _parameter_update = _n.subscribe<px4_parameter_update>(
- &MulticopterAttitudeControlMultiplatform::handle_parameter_update, this, 1000);
- _manual_control_sp = _n.subscribe<px4_manual_control_setpoint>(0);
- _armed = _n.subscribe<px4_actuator_armed>(0);
- _v_status = _n.subscribe<px4_vehicle_status>(0);
-}
-
-MulticopterAttitudeControlMultiplatform::~MulticopterAttitudeControlMultiplatform()
-{
-}
-
-int
-MulticopterAttitudeControlMultiplatform::parameters_update()
-{
- /* roll gains */
- _params.att_p(0) = _params_handles.roll_p.update();
- _params.rate_p(0) = _params_handles.roll_rate_p.update();
- _params.rate_i(0) = _params_handles.roll_rate_i.update();
- _params.rate_d(0) = _params_handles.roll_rate_d.update();
-
- /* pitch gains */
- _params.att_p(1) = _params_handles.pitch_p.update();
- _params.rate_p(1) = _params_handles.pitch_rate_p.update();
- _params.rate_i(1) = _params_handles.pitch_rate_i.update();
- _params.rate_d(1) = _params_handles.pitch_rate_d.update();
-
- /* yaw gains */
- _params.att_p(2) = _params_handles.yaw_p.update();
- _params.rate_p(2) = _params_handles.yaw_rate_p.update();
- _params.rate_i(2) = _params_handles.yaw_rate_i.update();
- _params.rate_d(2) = _params_handles.yaw_rate_d.update();
-
- _params.yaw_ff = _params_handles.yaw_ff.update();
- _params.yaw_rate_max = math::radians(_params_handles.yaw_rate_max.update());
-
- /* acro control scale */
- _params.acro_rate_max(0) = math::radians(_params_handles.acro_roll_max.update());
- _params.acro_rate_max(1) = math::radians(_params_handles.acro_pitch_max.update());
- _params.acro_rate_max(2) = math::radians(_params_handles.acro_yaw_max.update());
-
- _actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
-
- return OK;
-}
-
-void MulticopterAttitudeControlMultiplatform::handle_parameter_update(const px4_parameter_update &msg)
-{
- parameters_update();
-}
-
-void MulticopterAttitudeControlMultiplatform::handle_vehicle_attitude(const px4_vehicle_attitude &msg)
-{
-
- perf_begin(_loop_perf);
-
- /* run controller on attitude changes */
- static uint64_t last_run = 0;
- float dt = (px4::get_time_micros() - last_run) / 1000000.0f;
- last_run = px4::get_time_micros();
-
- /* 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;
- }
-
- if (_v_control_mode->data().flag_control_attitude_enabled) {
- control_attitude(dt);
-
- /* publish attitude rates setpoint */
- _v_rates_sp_mod.data().roll = _rates_sp(0);
- _v_rates_sp_mod.data().pitch = _rates_sp(1);
- _v_rates_sp_mod.data().yaw = _rates_sp(2);
- _v_rates_sp_mod.data().thrust = _thrust_sp;
- _v_rates_sp_mod.data().timestamp = px4::get_time_micros();
-
- if (_v_rates_sp_pub != nullptr) {
- _v_rates_sp_pub->publish(_v_rates_sp_mod);
-
- } else {
- if (_v_status->data().is_vtol) {
- //XXX add a second publisher?
- // _v_rates_sp_pub = _n.advertise<px4_mc_virtual_rates_setpoint>();
- } else {
- _v_rates_sp_pub = _n.advertise<px4_vehicle_rates_setpoint>();
- }
- }
-
- } else {
- /* attitude controller disabled, poll rates setpoint topic */
- if (_v_control_mode->data().flag_control_manual_enabled) {
- /* manual rates control - ACRO mode */
- _rates_sp = math::Vector<3>(_manual_control_sp->data().y, -_manual_control_sp->data().x,
- _manual_control_sp->data().r).emult(_params.acro_rate_max);
- _thrust_sp = _manual_control_sp->data().z;
-
- /* publish attitude rates setpoint */
- _v_rates_sp_mod.data().roll = _rates_sp(0);
- _v_rates_sp_mod.data().pitch = _rates_sp(1);
- _v_rates_sp_mod.data().yaw = _rates_sp(2);
- _v_rates_sp_mod.data().thrust = _thrust_sp;
- _v_rates_sp_mod.data().timestamp = px4::get_time_micros();
-
- if (_v_rates_sp_pub != nullptr) {
- _v_rates_sp_pub->publish(_v_rates_sp_mod);
-
- } else {
- if (_v_status->data().is_vtol) {
- //XXX add a second publisher?
- // _v_rates_sp_pub = _n.advertise<px4_mc_virtual_rates_setpoint>();
- } else {
- _v_rates_sp_pub = _n.advertise<px4_vehicle_rates_setpoint>();
- }
- }
-
- } else {
- /* attitude controller disabled, poll rates setpoint topic */
- _rates_sp(0) = _v_rates_sp->data().roll;
- _rates_sp(1) = _v_rates_sp->data().pitch;
- _rates_sp(2) = _v_rates_sp->data().yaw;
- _thrust_sp = _v_rates_sp->data().thrust;
- }
- }
-
- if (_v_control_mode->data().flag_control_rates_enabled) {
- control_attitude_rates(dt);
-
- /* publish actuator controls */
- _actuators.data().control[0] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
- _actuators.data().control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
- _actuators.data().control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
- _actuators.data().control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
- _actuators.data().timestamp = px4::get_time_micros();
-
- if (!_actuators_0_circuit_breaker_enabled) {
- if (_actuators_0_pub != nullptr) {
- _actuators_0_pub->publish(_actuators);
-
- } else {
- if (_v_status->data().is_vtol) {
- //XXX add a second publisher?
- // _actuators_0_pub = _n.advertise<px4_actuator_controls_virtual_mc>();
- } else {
- _actuators_0_pub = _n.advertise<px4_actuator_controls_0>();
- }
- }
- }
- }
-}
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control.h b/src/examples/mc_att_control_multiplatform/mc_att_control.h
deleted file mode 100644
index 12d4beadfc..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/****************************************************************************
- *
- * 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.h
- * 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 <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/circuit_breaker.h>
-#include <lib/mathlib/mathlib.h>
-
-#include "mc_att_control_base.h"
-
-class MulticopterAttitudeControlMultiplatform :
- public MulticopterAttitudeControlBase
-{
-public:
- /**
- * Constructor
- */
- MulticopterAttitudeControlMultiplatform();
-
- /**
- * Destructor, also kills the sensors task.
- */
- ~MulticopterAttitudeControlMultiplatform();
-
- /* Callbacks for topics */
- void handle_vehicle_attitude(const px4_vehicle_attitude &msg);
- void handle_parameter_update(const px4_parameter_update &msg);
-
- void spin() { _n.spin(); }
-
-private:
- bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
-
- px4::Publisher<px4_vehicle_rates_setpoint> *_v_rates_sp_pub; /**< rate setpoint publication */
- px4::Publisher<px4_actuator_controls_0> *_actuators_0_pub; /**< attitude actuator controls publication */
-
- px4::NodeHandle _n;
-
- px4::AppState _appState;
-
- struct {
- px4::ParameterFloat roll_p;
- px4::ParameterFloat roll_rate_p;
- px4::ParameterFloat roll_rate_i;
- px4::ParameterFloat roll_rate_d;
- px4::ParameterFloat pitch_p;
- px4::ParameterFloat pitch_rate_p;
- px4::ParameterFloat pitch_rate_i;
- px4::ParameterFloat pitch_rate_d;
- px4::ParameterFloat yaw_p;
- px4::ParameterFloat yaw_rate_p;
- px4::ParameterFloat yaw_rate_i;
- px4::ParameterFloat yaw_rate_d;
- px4::ParameterFloat yaw_ff;
- px4::ParameterFloat yaw_rate_max;
-
- px4::ParameterFloat acro_roll_max;
- px4::ParameterFloat acro_pitch_max;
- px4::ParameterFloat acro_yaw_max;
-
- } _params_handles; /**< handles for interesting parameters */
-
- perf_counter_t _loop_perf; /**< loop performance counter */
-
- /**
- * Update our local parameter cache.
- */
- int parameters_update();
-};
-
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp b/src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp
deleted file mode 100644
index 719fbaec47..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp
+++ /dev/null
@@ -1,214 +0,0 @@
-/* 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_base.cpp
- *
- * MC Attitude Controller : Control and math code
- *
- * @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_base.h"
-#include <geo/geo.h>
-#include <math.h>
-#include <lib/mathlib/mathlib.h>
-
-#ifdef CONFIG_ARCH_ARM
-#else
-#include <cmath>
-using namespace std;
-#endif
-
-MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
- _v_rates_sp_mod(),
- _actuators(),
- _publish_att_sp(false)
-
-{
- _params.att_p.zero();
- _params.rate_p.zero();
- _params.rate_i.zero();
- _params.rate_d.zero();
- _params.yaw_ff = 0.0f;
- _params.yaw_rate_max = 0.0f;
- _params.acro_rate_max.zero();
-
- _rates_prev.zero();
- _rates_sp.zero();
- _rates_int.zero();
- _thrust_sp = 0.0f;
- _att_control.zero();
-
- _I.identity();
-}
-
-MulticopterAttitudeControlBase::~MulticopterAttitudeControlBase()
-{
-}
-
-void MulticopterAttitudeControlBase::control_attitude(float dt)
-{
- _thrust_sp = _v_att_sp->data().thrust;
-
- /* construct attitude setpoint rotation matrix */
- math::Quaternion q_sp(&_v_att_sp->data().q_d[0]);
- math::Matrix<3, 3> R_sp = q_sp.to_dcm();
-
- /* rotation matrix for current state */
- math::Quaternion q(&_v_att->data().q[0]);
- math::Matrix<3, 3> R = q.to_dcm();
-
- /* all input data is ready, run controller itself */
-
- /* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
- math::Vector <3> R_z(R(0, 2), R(1, 2), R(2, 2));
- math::Vector <3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
-
- /* axis and sin(angle) of desired rotation */
- math::Vector <3> e_R = R.transposed() * (R_z % R_sp_z);
-
- /* calculate angle error */
- float e_R_z_sin = e_R.length();
- float e_R_z_cos = R_z * R_sp_z;
-
- /* calculate weight for yaw control */
- float yaw_w = R_sp(2, 2) * R_sp(2, 2);
-
- /* calculate rotation matrix after roll/pitch only rotation */
- math::Matrix<3, 3> R_rp;
-
- if (e_R_z_sin > 0.0f) {
- /* get axis-angle representation */
- float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos);
- math::Vector <3> e_R_z_axis = e_R / e_R_z_sin;
-
- e_R = e_R_z_axis * e_R_z_angle;
-
- /* cross product matrix for e_R_axis */
- math::Matrix<3, 3> e_R_cp;
- e_R_cp.zero();
- e_R_cp(0, 1) = -e_R_z_axis(2);
- e_R_cp(0, 2) = e_R_z_axis(1);
- e_R_cp(1, 0) = e_R_z_axis(2);
- e_R_cp(1, 2) = -e_R_z_axis(0);
- e_R_cp(2, 0) = -e_R_z_axis(1);
- e_R_cp(2, 1) = e_R_z_axis(0);
-
- /* rotation matrix for roll/pitch only rotation */
- R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
-
- } else {
- /* zero roll/pitch rotation */
- R_rp = R;
- }
-
- /* R_rp and R_sp has the same Z axis, calculate yaw error */
- math::Vector <3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
- math::Vector <3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
- e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
-
- if (e_R_z_cos < 0.0f) {
- /* for large thrust vector rotations use another rotation method:
- * calculate angle and axis for R -> R_sp rotation directly */
- math::Quaternion ql;
- ql.from_dcm(R.transposed() * R_sp);
- math::Vector <3> e_R_d = ql.imag();
- e_R_d.normalize();
- e_R_d *= 2.0f * atan2f(e_R_d.length(), ql(0));
-
- /* use fusion of Z axis based rotation and direct rotation */
- float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
- e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w;
- }
-
- /* calculate angular rates setpoint */
- _rates_sp = _params.att_p.emult(e_R);
-
- /* limit yaw rate */
- _rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max,
- _params.yaw_rate_max);
-
- /* feed forward yaw setpoint rate */
- _rates_sp(2) += _v_att_sp->data().yaw_sp_move_rate * yaw_w * _params.yaw_ff;
-
-}
-
-void MulticopterAttitudeControlBase::control_attitude_rates(float dt)
-{
- /* reset integral if disarmed */
- if (!_armed->data().armed || !_v_status->data().is_rotary_wing) {
- _rates_int.zero();
- }
-
- /* current body angular rates */
- math::Vector < 3 > rates;
- rates(0) = _v_att->data().rollspeed;
- rates(1) = _v_att->data().pitchspeed;
- rates(2) = _v_att->data().yawspeed;
-
- /* angular rates error */
- math::Vector < 3 > rates_err = _rates_sp - rates;
- _att_control = _params.rate_p.emult(rates_err)
- + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
- _rates_prev = rates;
-
- /* update integral only if not saturated on low limit */
- if (_thrust_sp > MIN_TAKEOFF_THRUST) {
- for (int i = 0; i < 3; i++) {
- if (fabsf(_att_control(i)) < _thrust_sp) {
- float rate_i = _rates_int(i)
- + _params.rate_i(i) * rates_err(i) * dt;
-
- if (isfinite(
- rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
- _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
- _rates_int(i) = rate_i;
- }
- }
- }
- }
-
-}
-
-void MulticopterAttitudeControlBase::set_actuator_controls()
-{
- _actuators.data().control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
- _actuators.data().control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
- _actuators.data().control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
- _actuators.data().control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
-}
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_base.h b/src/examples/mc_att_control_multiplatform/mc_att_control_base.h
deleted file mode 100644
index 4e33018b46..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_base.h
+++ /dev/null
@@ -1,131 +0,0 @@
-#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_base.h
- *
- * MC Attitude Controller : Control and math code
- *
- * @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 <px4.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <errno.h>
-#include <math.h>
-
-#include <systemlib/perf_counter.h>
-#include <lib/mathlib/mathlib.h>
-
-
-
-#define YAW_DEADZONE 0.05f
-#define MIN_TAKEOFF_THRUST 0.2f
-#define RATES_I_LIMIT 0.3f
-
-using namespace px4;
-
-class MulticopterAttitudeControlBase
-{
-public:
- /**
- * Constructor
- */
- MulticopterAttitudeControlBase();
-
- /**
- * Destructor
- */
- ~MulticopterAttitudeControlBase();
-
- /**
- * Start the sensors task.
- *
- * @return OK on success.
- */
- void control_attitude(float dt);
- void control_attitude_rates(float dt);
-
- void set_actuator_controls();
-
-protected:
- px4::Subscriber<px4_vehicle_attitude> *_v_att; /**< vehicle attitude */
- px4::Subscriber<px4_vehicle_attitude_setpoint> *_v_att_sp; /**< vehicle attitude setpoint */
- px4::Subscriber<px4_vehicle_rates_setpoint> *_v_rates_sp; /**< vehicle rates setpoint */
- px4::Subscriber<px4_vehicle_control_mode> *_v_control_mode; /**< vehicle control mode */
- px4::Subscriber<px4_parameter_update> *_parameter_update; /**< parameter update */
- px4::Subscriber<px4_manual_control_setpoint> *_manual_control_sp; /**< manual control setpoint */
- px4::Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */
- px4::Subscriber<px4_vehicle_status> *_v_status; /**< vehicle status */
-
- px4_vehicle_rates_setpoint _v_rates_sp_mod; /**< vehicle rates setpoint
- that gets published eventually*/
- px4_actuator_controls_0 _actuators; /**< actuator controls */
-
- math::Vector<3> _rates_prev; /**< angular rates on previous step */
- math::Vector<3> _rates_sp; /**< angular rates setpoint */
- math::Vector<3> _rates_int; /**< angular rates integral error */
- float _thrust_sp; /**< thrust setpoint */
- math::Vector<3> _att_control; /**< attitude control vector */
-
- math::Matrix<3, 3> _I; /**< identity matrix */
-
- bool _reset_yaw_sp; /**< reset yaw setpoint flag */
-
- struct {
- math::Vector<3> att_p; /**< P gain for angular error */
- math::Vector<3> rate_p; /**< P gain for angular rate error */
- math::Vector<3> rate_i; /**< I gain for angular rate error */
- math::Vector<3> rate_d; /**< D gain for angular rate error */
- float yaw_ff; /**< yaw control feed-forward */
- float yaw_rate_max; /**< max yaw rate */
-
- math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
-
- int32_t autostart_id;
- } _params;
-
- bool _publish_att_sp;
-
-};
-
-#endif /* MC_ATT_CONTROL_BASE_H_ */
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_main.cpp b/src/examples/mc_att_control_multiplatform/mc_att_control_main.cpp
deleted file mode 100644
index 57e3416bd4..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_main.cpp
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- * 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 mc_att_control_thread_running = false; /**< Deamon status flag */
-
-#if defined(__PX4_ROS)
-int main(int argc, char **argv)
-#else
-int mc_att_control_start_main(int argc, char **argv); // Prototype for missing declearation error with nuttx
-int mc_att_control_start_main(int argc, char **argv)
-#endif
-{
- px4::init(argc, argv, "mc_att_control_m");
-
- PX4_INFO("starting");
- MulticopterAttitudeControlMultiplatform attctl;
- mc_att_control_thread_running = true;
- attctl.spin();
-
- PX4_INFO("exiting.");
- mc_att_control_thread_running = false;
- return 0;
-}
-
-
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_params.c b/src/examples/mc_att_control_multiplatform/mc_att_control_params.c
deleted file mode 100644
index e34732d1f3..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_params.c
+++ /dev/null
@@ -1,215 +0,0 @@
-/****************************************************************************
- *
- * 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_params.c
- * Parameters for multicopter attitude controller.
- *
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Lorenz Meier <lorenz@px4.io>
- * @author Anton Babushkin <anton.babushkin@me.com>
- */
-
-/**
- * Roll P gain
- *
- * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_ROLL_P);
-
-/**
- * Roll rate P gain
- *
- * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_P);
-
-/**
- * Roll rate I gain
- *
- * Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_I);
-
-/**
- * Roll rate D gain
- *
- * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_D);
-
-/**
- * Pitch P gain
- *
- * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
- *
- * @unit 1/s
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_PITCH_P);
-
-/**
- * Pitch rate P gain
- *
- * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_P);
-
-/**
- * Pitch rate I gain
- *
- * Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_I);
-
-/**
- * Pitch rate D gain
- *
- * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_D);
-
-/**
- * Yaw P gain
- *
- * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
- *
- * @unit 1/s
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_YAW_P);
-
-/**
- * Yaw rate P gain
- *
- * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_P);
-
-/**
- * Yaw rate I gain
- *
- * Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_I);
-
-/**
- * Yaw rate D gain
- *
- * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- *
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_D);
-
-/**
- * Yaw feed forward
- *
- * Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
- *
- * @min 0.0
- * @max 1.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_YAW_FF);
-
-/**
- * Max yaw rate
- *
- * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
- *
- * @unit deg/s
- * @min 0.0
- * @max 360.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_MAX);
-
-/**
- * Max acro roll rate
- *
- * @unit deg/s
- * @min 0.0
- * @max 360.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_ACRO_R_MAX);
-
-/**
- * Max acro pitch rate
- *
- * @unit deg/s
- * @min 0.0
- * @max 360.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_ACRO_P_MAX);
-
-/**
- * Max acro yaw rate
- *
- * @unit deg/s
- * @min 0.0
- * @group Multicopter Attitude Control
- */
-PX4_PARAM_DEFINE_FLOAT(MP_ACRO_Y_MAX);
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_params.h b/src/examples/mc_att_control_multiplatform/mc_att_control_params.h
deleted file mode 100644
index bb7f7360e4..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_params.h
+++ /dev/null
@@ -1,62 +0,0 @@
-
-/****************************************************************************
- *
- * 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 MP_att_control_params.h
- * Parameters for 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>
- */
-#pragma once
-
-#define PARAM_MP_ROLL_P_DEFAULT 6.0f
-#define PARAM_MP_ROLLRATE_P_DEFAULT 0.1f
-#define PARAM_MP_ROLLRATE_I_DEFAULT 0.0f
-#define PARAM_MP_ROLLRATE_D_DEFAULT 0.002f
-#define PARAM_MP_PITCH_P_DEFAULT 6.0f
-#define PARAM_MP_PITCHRATE_P_DEFAULT 0.1f
-#define PARAM_MP_PITCHRATE_I_DEFAULT 0.0f
-#define PARAM_MP_PITCHRATE_D_DEFAULT 0.002f
-#define PARAM_MP_YAW_P_DEFAULT 2.0f
-#define PARAM_MP_YAWRATE_P_DEFAULT 0.3f
-#define PARAM_MP_YAWRATE_I_DEFAULT 0.0f
-#define PARAM_MP_YAWRATE_D_DEFAULT 0.0f
-#define PARAM_MP_YAW_FF_DEFAULT 0.5f
-#define PARAM_MP_YAWRATE_MAX_DEFAULT 60.0f
-#define PARAM_MP_ACRO_R_MAX_DEFAULT 35.0f
-#define PARAM_MP_ACRO_P_MAX_DEFAULT 35.0f
-#define PARAM_MP_ACRO_Y_MAX_DEFAULT 120.0f
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_sim.cpp b/src/examples/mc_att_control_multiplatform/mc_att_control_sim.cpp
deleted file mode 100644
index d516d7e528..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_sim.cpp
+++ /dev/null
@@ -1,142 +0,0 @@
-/* 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.cpp
- *
- * MC Attitude Controller Interface for usage in a simulator
- *
- * @author Roman Bapst <bapstr@ethz.ch>
- *
- */
-
-#include "mc_att_control_sim.h"
-#include <geo/geo.h>
-#include <math.h>
-
-#ifdef CONFIG_ARCH_ARM
-#else
-#include <cmath>
-using namespace std;
-#endif
-
-MulticopterAttitudeControlSim::MulticopterAttitudeControlSim()
-{
- /* setup standard gains */
- //XXX: make these configurable
- _params.att_p(0) = 5.0;
- _params.rate_p(0) = 0.05;
- _params.rate_i(0) = 0.0;
- _params.rate_d(0) = 0.003;
- /* pitch gains */
- _params.att_p(1) = 5.0;
- _params.rate_p(1) = 0.05;
- _params.rate_i(1) = 0.0;
- _params.rate_d(1) = 0.003;
- /* yaw gains */
- _params.att_p(2) = 2.8;
- _params.rate_p(2) = 0.2;
- _params.rate_i(2) = 0.1;
- _params.rate_d(2) = 0.0;
- _params.yaw_rate_max = 0.5;
- _params.yaw_ff = 0.5;
- _params.man_roll_max = 0.6;
- _params.man_pitch_max = 0.6;
- _params.man_yaw_max = 0.6;
-}
-
-MulticopterAttitudeControlSim::~MulticopterAttitudeControlSim()
-{
-}
-
-void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
-{
- math::Quaternion quat;
- quat(0) = (float)attitude.w();
- quat(1) = (float)attitude.x();
- quat(2) = (float)attitude.y();
- quat(3) = (float)attitude.z();
-
- _v_att.q[0] = quat(0);
- _v_att.q[1] = quat(1);
- _v_att.q[2] = quat(2);
- _v_att.q[3] = quat(3);
-
- math::Matrix<3, 3> Rot = quat.to_dcm();
- _v_att.R[0][0] = Rot(0, 0);
- _v_att.R[1][0] = Rot(1, 0);
- _v_att.R[2][0] = Rot(2, 0);
- _v_att.R[0][1] = Rot(0, 1);
- _v_att.R[1][1] = Rot(1, 1);
- _v_att.R[2][1] = Rot(2, 1);
- _v_att.R[0][2] = Rot(0, 2);
- _v_att.R[1][2] = Rot(1, 2);
- _v_att.R[2][2] = Rot(2, 2);
-
- _v_att.R_valid = true;
-}
-
-void MulticopterAttitudeControlSim::set_attitude_rates(const Eigen::Vector3d &angular_rate)
-{
- // check if this is consistent !!!
- _v_att.rollspeed = angular_rate(0);
- _v_att.pitchspeed = angular_rate(1);
- _v_att.yawspeed = angular_rate(2);
-}
-
-void MulticopterAttitudeControlSim::set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference)
-{
- _v_att_sp.roll_body = control_attitude_thrust_reference(0);
- _v_att_sp.pitch_body = control_attitude_thrust_reference(1);
- _v_att_sp.yaw_body = control_attitude_thrust_reference(2);
- _v_att_sp.thrust = (control_attitude_thrust_reference(3) - 30) * (-1) / 30;
-
- // setup rotation matrix
- math::Matrix<3, 3> Rot_sp;
- Rot_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
- _v_att_sp.R_body[0][0] = Rot_sp(0, 0);
- _v_att_sp.R_body[1][0] = Rot_sp(1, 0);
- _v_att_sp.R_body[2][0] = Rot_sp(2, 0);
- _v_att_sp.R_body[0][1] = Rot_sp(0, 1);
- _v_att_sp.R_body[1][1] = Rot_sp(1, 1);
- _v_att_sp.R_body[2][1] = Rot_sp(2, 1);
- _v_att_sp.R_body[0][2] = Rot_sp(0, 2);
- _v_att_sp.R_body[1][2] = Rot_sp(1, 2);
- _v_att_sp.R_body[2][2] = Rot_sp(2, 2);
-}
-
-void MulticopterAttitudeControlSim::get_mixer_input(Eigen::Vector4d &motor_inputs)
-{
- motor_inputs(0) = _actuators.control[0];
- motor_inputs(1) = _actuators.control[1];
- motor_inputs(2) = _actuators.control[2];
- motor_inputs(3) = _actuators.control[3];
-}
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_sim.h b/src/examples/mc_att_control_multiplatform/mc_att_control_sim.h
deleted file mode 100644
index da174d6eb1..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_sim.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#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 rotors-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_ */
diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp b/src/examples/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
deleted file mode 100644
index 5a6f770817..0000000000
--- a/src/examples/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/****************************************************************************
- *
- * 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_m_start_nuttx.cpp
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-#include <string.h>
-#include <cstdlib>
-#include <systemlib/err.h>
-#include <px4_tasks.h>
-
-extern bool mc_att_control_thread_running;
-int mc_att_control_daemon_task; /**< Handle of deamon task / thread */
-namespace px4
-{
-bool mc_att_control_task_should_exit = false;
-}
-using namespace px4;
-
-extern int mc_att_control_start_main(int argc, char **argv);
-
-extern "C" __EXPORT int mc_att_control_m_main(int argc, char *argv[]);
-int mc_att_control_m_main(int argc, char *argv[])
-{
- if (argc < 2) {
- warnx("usage: mc_att_control_m {start|stop|status}");
- return 1;
- }
-
- if (!strcmp(argv[1], "start")) {
-
- if (mc_att_control_thread_running) {
- warnx("already running");
- /* this is not an error */
- return 0;
- }
-
- mc_att_control_task_should_exit = false;
- warnx("ok now btak running");
- mc_att_control_daemon_task = px4_task_spawn_cmd("mc_att_control_m",
- SCHED_DEFAULT,
- SCHED_PRIORITY_MAX - 5,
- 1900,
- mc_att_control_start_main,
- (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
-
- return 0;
- }
-
- if (!strcmp(argv[1], "stop")) {
- mc_att_control_task_should_exit = true;
- return 0;
- }
-
- if (!strcmp(argv[1], "status")) {
- if (mc_att_control_thread_running) {
- warnx("is running");
-
- } else {
- warnx("not started");
- }
-
- return 0;
- }
-
- warnx("unrecognized command");
- return 1;
-}
--
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