void
MulticopterAttitudeControl::task_main()
{

	/*
	 * do subscriptions
	 */
	_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
	_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
	_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
	_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
	_params_sub = orb_subscribe(ORB_ID(parameter_update));
	_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
	_motor_limits_sub = orb_subscribe(ORB_ID(multirotor_motor_limits));

	/* initialize parameters cache */
	parameters_update();

	/* wakeup source: vehicle attitude */
	px4_pollfd_struct_t fds[1];

	fds[0].fd = _ctrl_state_sub;
	fds[0].events = POLLIN;

	while (!_task_should_exit) {

		/* wait for up to 100ms for data */
		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);

		/* timed out - periodic check for _task_should_exit */
		if (pret == 0) {
			continue;
		}

		/* this is undesirable but not much we can do - might want to flag unhappy status */
		if (pret < 0) {
			warn("poll error %d, %d", pret, errno);
			/* sleep a bit before next try */
			usleep(100000);
			continue;
		}

		perf_begin(_loop_perf);

		/* run controller on attitude changes */
		if (fds[0].revents & POLLIN) {
			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 and control state topics */
			orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);

			/* check for updates in other topics */
			parameter_update_poll();
			vehicle_control_mode_poll();
			arming_status_poll();
			vehicle_manual_poll();
			vehicle_status_poll();
			vehicle_motor_limits_poll();

			/* Check if we are in rattitude mode and the pilot is above the threshold on pitch
			 * or roll (yaw can rotate 360 in normal att control).  If both are true don't
			 * even bother running the attitude controllers */
			if (_vehicle_status.main_state == vehicle_status_s::MAIN_STATE_RATTITUDE) {
				if (fabsf(_manual_control_sp.y) > _params.rattitude_thres ||
				    fabsf(_manual_control_sp.x) > _params.rattitude_thres) {
					_v_control_mode.flag_control_attitude_enabled = false;
				}
			}

			if (_v_control_mode.flag_control_attitude_enabled) {

				if (_ts_opt_recovery == nullptr) {
					// the  tailsitter recovery instance has not been created, thus, the vehicle
					// is not a tailsitter, do normal attitude control
					control_attitude(dt);

				} else {
					vehicle_attitude_setpoint_poll();
					_thrust_sp = _v_att_sp.thrust;
					math::Quaternion q(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
					math::Quaternion q_sp(&_v_att_sp.q_d[0]);
					_ts_opt_recovery->setAttGains(_params.att_p, _params.yaw_ff);
					_ts_opt_recovery->calcOptimalRates(q, q_sp, _v_att_sp.yaw_sp_move_rate, _rates_sp);

					/* limit rates */
					for (int i = 0; i < 3; i++) {
						_rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));
					}
				}

				/* 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 != nullptr) {
					orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);

				} else if (_rates_sp_id) {
					_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_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 = math::min(_manual_control_sp.z, MANUAL_THROTTLE_MAX_MULTICOPTER);

					/* 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 != nullptr) {
						orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);

					} else if (_rates_sp_id) {
						_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_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] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
				_actuators.control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
				_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
				_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
				_actuators.timestamp = hrt_absolute_time();
				_actuators.timestamp_sample = _ctrl_state.timestamp;

				_controller_status.roll_rate_integ = _rates_int(0);
				_controller_status.pitch_rate_integ = _rates_int(1);
				_controller_status.yaw_rate_integ = _rates_int(2);
				_controller_status.timestamp = hrt_absolute_time();

				if (!_actuators_0_circuit_breaker_enabled) {
					if (_actuators_0_pub != nullptr) {
						orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
						perf_end(_controller_latency_perf);

					} else if (_actuators_id) {
						_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
					}

				}

				/* publish controller status */
				if (_controller_status_pub != nullptr) {
					orb_publish(ORB_ID(mc_att_ctrl_status), _controller_status_pub, &_controller_status);

				} else {
					_controller_status_pub = orb_advertise(ORB_ID(mc_att_ctrl_status), &_controller_status);
				}
			}
		}

		perf_end(_loop_perf);
	}

	_control_task = -1;
	return;
}
void
MulticopterAttitudeControl::task_main()
{
	warnx("started");
	fflush(stdout);

	/*
	 * do subscriptions
	 */
	_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
	_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
	_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
	_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
	_params_sub = orb_subscribe(ORB_ID(parameter_update));
	_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));

	/* initialize parameters cache */
	parameters_update();

	/* wakeup source: vehicle attitude */
	struct pollfd fds[1];

	fds[0].fd = _v_att_sub;
	fds[0].events = POLLIN;

	while (!_task_should_exit) {

		/* wait for up to 100ms for data */
		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);

		/* timed out - periodic check for _task_should_exit */
		if (pret == 0)
			continue;

		/* this is undesirable but not much we can do - might want to flag unhappy status */
		if (pret < 0) {
			warn("poll error %d, %d", pret, errno);
			/* sleep a bit before next try */
			usleep(100000);
			continue;
		}

		perf_begin(_loop_perf);

		/* run controller on attitude changes */
		if (fds[0].revents & POLLIN) {
			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 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_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);
				}
			}
		}

		perf_end(_loop_perf);
	}

	warnx("exit");

	_control_task = -1;
	_exit(0);
}
void
MulticopterAttitudeControl::task_main()
{

	/*
	 * do subscriptions
	 */
	_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
	_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
	_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
	_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
	_params_sub = orb_subscribe(ORB_ID(parameter_update));
	_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
	_motor_limits_sub = orb_subscribe(ORB_ID(multirotor_motor_limits));

	/* initialize parameters cache */
	parameters_update();

	/* wakeup source: vehicle attitude */
	px4_pollfd_struct_t fds[1];

	fds[0].fd = _v_att_sub;
	fds[0].events = POLLIN;

	while (!_task_should_exit) {

		/* wait for up to 100ms for data */
		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);

		/* timed out - periodic check for _task_should_exit */
		if (pret == 0)
			continue;

		/* this is undesirable but not much we can do - might want to flag unhappy status */
		if (pret < 0) {
			warn("poll error %d, %d", pret, errno);
			/* sleep a bit before next try */
			usleep(100000);
			continue;
		}

		perf_begin(_loop_perf);

		/* run controller on attitude changes */
		if (fds[0].revents & POLLIN) {
			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();
			vehicle_status_poll();
			vehicle_motor_limits_poll();

			if (_v_control_mode.flag_control_attitude_enabled) {
				control_attitude(dt);

				/* 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 != nullptr) {
					orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);

				} else if (_rates_sp_id) {
					_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_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;

					/* 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 != nullptr) {
						orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);

					} else if (_rates_sp_id) {
						_v_rates_sp_pub = orb_advertise(_rates_sp_id, &_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] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
				_actuators.control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
				_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
				_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
				_actuators.timestamp = hrt_absolute_time();
				_actuators.timestamp_sample = _v_att.timestamp;

				_controller_status.roll_rate_integ = _rates_int(0);
				_controller_status.pitch_rate_integ = _rates_int(1);
				_controller_status.yaw_rate_integ = _rates_int(2);
				_controller_status.timestamp = hrt_absolute_time();

				if (!_actuators_0_circuit_breaker_enabled) {
					if (_actuators_0_pub != nullptr) {
						orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
						perf_end(_controller_latency_perf);

					} else if (_actuators_id) {
						_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
					}

				}

				/* publish controller status */
				if(_controller_status_pub != nullptr) {
					orb_publish(ORB_ID(mc_att_ctrl_status),_controller_status_pub, &_controller_status);
				} else {
					_controller_status_pub = orb_advertise(ORB_ID(mc_att_ctrl_status), &_controller_status);
				}
			}
		}

		perf_end(_loop_perf);
	}

	_control_task = -1;
	return;
}