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
FixedwingAttitudeControl::task_main()
{

    /* inform about start */
    warnx("Initializing..");
    fflush(stdout);

    /*
     * do subscriptions
     */
    _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
    _att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
    _accel_sub = orb_subscribe(ORB_ID(sensor_accel));
    _airspeed_sub = orb_subscribe(ORB_ID(airspeed));
    _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
    _params_sub = orb_subscribe(ORB_ID(parameter_update));
    _manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
    _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));

    /* rate limit vehicle status updates to 5Hz */
    orb_set_interval(_vcontrol_mode_sub, 200);
    /* rate limit attitude control to 50 Hz (with some margin, so 17 ms) */
    orb_set_interval(_att_sub, 17);

    parameters_update();

    /* get an initial update for all sensor and status data */
    vehicle_airspeed_poll();
    vehicle_setpoint_poll();
    vehicle_accel_poll();
    vehicle_control_mode_poll();
    vehicle_manual_poll();

    /* wakeup source(s) */
    struct pollfd fds[2];

    /* Setup of loop */
    fds[0].fd = _params_sub;
    fds[0].events = POLLIN;
    fds[1].fd = _att_sub;
    fds[1].events = POLLIN;

    while (!_task_should_exit) {

        static int loop_counter = 0;

        /* wait for up to 500ms for data */
        int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);

        /* timed out - periodic check for _task_should_exit, etc. */
        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);
            continue;
        }

        perf_begin(_loop_perf);

        /* only update parameters if they changed */
        if (fds[0].revents & POLLIN) {
            /* read from param to clear updated flag */
            struct parameter_update_s update;
            orb_copy(ORB_ID(parameter_update), _params_sub, &update);

            /* update parameters from storage */
            parameters_update();
        }

        /* only run controller if attitude changed */
        if (fds[1].revents & POLLIN) {


            static uint64_t last_run = 0;
            float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
            last_run = hrt_absolute_time();

            /* guard against too large deltaT's */
            if (deltaT > 1.0f)
                deltaT = 0.01f;

            /* load local copies */
            orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);

            vehicle_airspeed_poll();

            vehicle_setpoint_poll();

            vehicle_accel_poll();

            vehicle_control_mode_poll();

            vehicle_manual_poll();

            global_pos_poll();

            /* lock integrator until control is started */
            bool lock_integrator;

            if (_vcontrol_mode.flag_control_attitude_enabled) {
                lock_integrator = false;

            } else {
                lock_integrator = true;
            }

            /* Simple handling of failsafe: deploy parachute if failsafe is on */
            if (_vcontrol_mode.flag_control_termination_enabled) {
                _actuators_airframe.control[1] = 1.0f;
//				warnx("_actuators_airframe.control[1] = 1.0f;");
            } else {
                _actuators_airframe.control[1] = 0.0f;
//				warnx("_actuators_airframe.control[1] = -1.0f;");
            }

            /* decide if in stabilized or full manual control */

            if (_vcontrol_mode.flag_control_attitude_enabled) {

                /* scale around tuning airspeed */

                float airspeed;

                /* if airspeed is not updating, we assume the normal average speed */
                if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
                                     hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
                    airspeed = _parameters.airspeed_trim;
                    if (nonfinite) {
                        perf_count(_nonfinite_input_perf);
                    }
                } else {
                    airspeed = _airspeed.true_airspeed_m_s;
                }

                /*
                 * For scaling our actuators using anything less than the min (close to stall)
                 * speed doesn't make any sense - its the strongest reasonable deflection we
                 * want to do in flight and its the baseline a human pilot would choose.
                 *
                 * Forcing the scaling to this value allows reasonable handheld tests.
                 */

                float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed);

                float roll_sp = _parameters.rollsp_offset_rad;
                float pitch_sp = _parameters.pitchsp_offset_rad;
                float throttle_sp = 0.0f;

                if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
                    /* read in attitude setpoint from attitude setpoint uorb topic */
                    roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
                    pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
                    throttle_sp = _att_sp.thrust;

                    /* reset integrals where needed */
                    if (_att_sp.roll_reset_integral) {
                        _roll_ctrl.reset_integrator();
                    }
                    if (_att_sp.pitch_reset_integral) {
                        _pitch_ctrl.reset_integrator();
                    }
                    if (_att_sp.yaw_reset_integral) {
                        _yaw_ctrl.reset_integrator();
                    }
                } else {
                    /*
                     * Scale down roll and pitch as the setpoints are radians
                     * and a typical remote can only do around 45 degrees, the mapping is
                     * -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
                     *
                     * With this mapping the stick angle is a 1:1 representation of
                     * the commanded attitude.
                     *
                     * The trim gets subtracted here from the manual setpoint to get
                     * the intended attitude setpoint. Later, after the rate control step the
                     * trim is added again to the control signal.
                     */
                    roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
                              + _parameters.rollsp_offset_rad;
                    pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
                               + _parameters.pitchsp_offset_rad;
                    throttle_sp = _manual.z;
                    _actuators.control[4] = _manual.flaps;

                    /*
                     * in manual mode no external source should / does emit attitude setpoints.
                     * emit the manual setpoint here to allow attitude controller tuning
                     * in attitude control mode.
                     */
                    struct vehicle_attitude_setpoint_s att_sp;
                    att_sp.timestamp = hrt_absolute_time();
                    att_sp.roll_body = roll_sp;
                    att_sp.pitch_body = pitch_sp;
                    att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
                    att_sp.thrust = throttle_sp;

                    /* lazily publish the setpoint only once available */
                    if (_attitude_sp_pub > 0) {
                        /* publish the attitude setpoint */
                        orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);

                    } else {
                        /* advertise and publish */
                        _attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
                    }
                }

                /* Prepare speed_body_u and speed_body_w */
                float speed_body_u = 0.0f;
                float speed_body_v = 0.0f;
                float speed_body_w = 0.0f;
                if(_att.R_valid) 	{
                    speed_body_u = _att.R[0][0] * _global_pos.vel_n + _att.R[1][0] * _global_pos.vel_e + _att.R[2][0] * _global_pos.vel_d;
                    speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
                    speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
                } else	{
                    if (loop_counter % 10 == 0) {
                        warnx("Did not get a valid R\n");
                    }
                }

                /* Run attitude controllers */
                if (isfinite(roll_sp) && isfinite(pitch_sp)) {
                    _roll_ctrl.control_attitude(roll_sp, _att.roll);
                    _pitch_ctrl.control_attitude(pitch_sp, _att.roll, _att.pitch, airspeed);
                    _yaw_ctrl.control_attitude(_att.roll, _att.pitch,
                                               speed_body_u, speed_body_v, speed_body_w,
                                               _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude

                    /* Run attitude RATE controllers which need the desired attitudes from above, add trim */
                    float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
                                   _att.rollspeed, _att.yawspeed,
                                   _yaw_ctrl.get_desired_rate(),
                                   _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
                    _actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
                    if (!isfinite(roll_u)) {
                        _roll_ctrl.reset_integrator();
                        perf_count(_nonfinite_output_perf);

                        if (loop_counter % 10 == 0) {
                            warnx("roll_u %.4f", (double)roll_u);
                        }
                    }

                    float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
                                    _att.pitchspeed, _att.yawspeed,
                                    _yaw_ctrl.get_desired_rate(),
                                    _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
                    _actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
                    if (!isfinite(pitch_u)) {
                        _pitch_ctrl.reset_integrator();
                        perf_count(_nonfinite_output_perf);
                        if (loop_counter % 10 == 0) {
                            warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
                                  " airspeed %.4f, airspeed_scaling %.4f,"
                                  " roll_sp %.4f, pitch_sp %.4f,"
                                  " _roll_ctrl.get_desired_rate() %.4f,"
                                  " _pitch_ctrl.get_desired_rate() %.4f"
                                  " att_sp.roll_body %.4f",
                                  (double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
                                  (double)airspeed, (double)airspeed_scaling,
                                  (double)roll_sp, (double)pitch_sp,
                                  (double)_roll_ctrl.get_desired_rate(),
                                  (double)_pitch_ctrl.get_desired_rate(),
                                  (double)_att_sp.roll_body);
                        }
                    }

                    float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
                                  _att.pitchspeed, _att.yawspeed,
                                  _pitch_ctrl.get_desired_rate(),
                                  _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
                    _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
                    if (!isfinite(yaw_u)) {
                        _yaw_ctrl.reset_integrator();
                        perf_count(_nonfinite_output_perf);
                        if (loop_counter % 10 == 0) {
                            warnx("yaw_u %.4f", (double)yaw_u);
                        }
                    }

                    /* throttle passed through */
                    _actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
                    if (!isfinite(throttle_sp)) {
                        if (loop_counter % 10 == 0) {
                            warnx("throttle_sp %.4f", (double)throttle_sp);
                        }
                    }
                } else {
                    perf_count(_nonfinite_input_perf);
                    if (loop_counter % 10 == 0) {
                        warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
                    }
                }

                /*
                 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
                 * only once available
                 */
                vehicle_rates_setpoint_s rates_sp;
                rates_sp.roll = _roll_ctrl.get_desired_rate();
                rates_sp.pitch = _pitch_ctrl.get_desired_rate();
                rates_sp.yaw = _yaw_ctrl.get_desired_rate();

                rates_sp.timestamp = hrt_absolute_time();

                if (_rate_sp_pub > 0) {
                    /* publish the attitude setpoint */
                    orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &rates_sp);

                } else {
                    /* advertise and publish */
                    _rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
                }

            } else {
                /* manual/direct control */
                _actuators.control[0] = _manual.y;
                _actuators.control[1] = -_manual.x;
                _actuators.control[2] = _manual.r;
                _actuators.control[3] = _manual.z;
                _actuators.control[4] = _manual.flaps;
            }

            _actuators.control[5] = _manual.aux1;
            _actuators.control[6] = _manual.aux2;
            _actuators.control[7] = _manual.aux3;

            /* lazily publish the setpoint only once available */
            _actuators.timestamp = hrt_absolute_time();
            _actuators_airframe.timestamp = hrt_absolute_time();

            if (_actuators_0_pub > 0) {
                /* publish the attitude setpoint */
                orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);

            } else {
                /* advertise and publish */
                _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
            }

            if (_actuators_1_pub > 0) {
                /* publish the attitude setpoint */
                orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe);
//				warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f",
//						(double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2],
//						(double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5],
//						(double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]);

            } else {
                /* advertise and publish */
                _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe);
            }

        }

        loop_counter++;
        perf_end(_loop_perf);
    }

    warnx("exiting.\n");

    _control_task = -1;
    _exit(0);
}
void VtolAttitudeControl::task_main()
{
	warnx("started");
	fflush(stdout);

	/* do subscriptions */
	_v_att_sp_sub          = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
	_mc_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(mc_virtual_rates_setpoint));
	_fw_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(fw_virtual_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));
	_local_pos_sub         = orb_subscribe(ORB_ID(vehicle_local_position));
	_airspeed_sub          = orb_subscribe(ORB_ID(airspeed));
	_battery_status_sub	   = orb_subscribe(ORB_ID(battery_status));

	_actuator_inputs_mc    = orb_subscribe(ORB_ID(actuator_controls_virtual_mc));
	_actuator_inputs_fw    = orb_subscribe(ORB_ID(actuator_controls_virtual_fw));

	parameters_update();  // initialize parameter cache

	/* update vtol vehicle status*/
	_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;

	// make sure we start with idle in mc mode
	_vtol_type->set_idle_mc();

	/* wakeup source*/
	struct pollfd fds[3];	/*input_mc, input_fw, parameters*/

	fds[0].fd     = _actuator_inputs_mc;
	fds[0].events = POLLIN;
	fds[1].fd     = _actuator_inputs_fw;
	fds[1].events = POLLIN;
	fds[2].fd     = _params_sub;
	fds[2].events = POLLIN;

	while (!_task_should_exit) {
		/*Advertise/Publish vtol vehicle status*/
		if (_vtol_vehicle_status_pub != nullptr) {
			orb_publish(ORB_ID(vtol_vehicle_status), _vtol_vehicle_status_pub, &_vtol_vehicle_status);

		} else {
			_vtol_vehicle_status.timestamp = hrt_absolute_time();
			_vtol_vehicle_status_pub = orb_advertise(ORB_ID(vtol_vehicle_status), &_vtol_vehicle_status);
		}

		/* 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;
		}

		if (fds[2].revents & POLLIN) {	//parameters were updated, read them now
			/* read from param to clear updated flag */
			struct parameter_update_s update;
			orb_copy(ORB_ID(parameter_update), _params_sub, &update);

			/* update parameters from storage */
			parameters_update();
		}

		_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;

		vehicle_control_mode_poll();	//Check for changes in vehicle control mode.
		vehicle_manual_poll();			//Check for changes in manual inputs.
		arming_status_poll();			//Check for arming status updates.
		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
		actuator_controls_fw_poll();	//Check for changes in fw_attitude_control output
		vehicle_rates_sp_mc_poll();
		vehicle_rates_sp_fw_poll();
		parameters_update_poll();
		vehicle_local_pos_poll();			// Check for new sensor values
		vehicle_airspeed_poll();
		vehicle_battery_poll();

		// update the vtol state machine which decides which mode we are in
		_vtol_type->update_vtol_state();

		// check in which mode we are in and call mode specific functions
		if (_vtol_type->get_mode() == ROTARY_WING) {
			// vehicle is in rotary wing mode
			_vtol_vehicle_status.vtol_in_rw_mode = true;

			_vtol_type->update_mc_state();

			// got data from mc attitude controller
			if (fds[0].revents & POLLIN) {
				orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);

				_vtol_type->process_mc_data();

				fill_mc_att_rates_sp();
			}
		} else if (_vtol_type->get_mode() == FIXED_WING) {
			// vehicle is in fw mode
			_vtol_vehicle_status.vtol_in_rw_mode = false;

			_vtol_type->update_fw_state();

			// got data from fw attitude controller
			if (fds[1].revents & POLLIN) {
				orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
				vehicle_manual_poll();

				_vtol_type->process_fw_data();

				fill_fw_att_rates_sp();
			}
		} else if (_vtol_type->get_mode() == TRANSITION) {
			// vehicle is doing a transition
			bool got_new_data = false;
			if (fds[0].revents & POLLIN) {
				orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
				got_new_data = true;
			}

			if (fds[1].revents & POLLIN) {
				orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
				got_new_data = true;
			}

			// update transition state if got any new data
			if (got_new_data) {
				_vtol_type->update_transition_state();
			}

		} else if (_vtol_type->get_mode() == EXTERNAL) {
			// we are using external module to generate attitude/thrust setpoint
			_vtol_type->update_external_state();
		}


		/* Only publish if the proper mode(s) are enabled */
		if(_v_control_mode.flag_control_attitude_enabled ||
		   _v_control_mode.flag_control_rates_enabled ||
		   _v_control_mode.flag_control_manual_enabled)
		{
			if (_actuators_0_pub != nullptr) {
				orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
			} else {
				_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
			}

			if (_actuators_1_pub != nullptr) {
				orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
			} else {
				_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
			}
		}

		// publish the attitude rates setpoint
		if(_v_rates_sp_pub != nullptr) {
			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);
		}
	}

	warnx("exit");
	_control_task = -1;
	_exit(0);
}
Esempio n. 4
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));
	_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()
{

	/*
	 * 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;
}
void
FixedwingAttitudeControl::task_main()
{
	/*
	 * do subscriptions
	 */
	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
	_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
	_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
	_params_sub = orb_subscribe(ORB_ID(parameter_update));
	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
	_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));

	parameters_update();

	/* get an initial update for all sensor and status data */
	vehicle_setpoint_poll();
	vehicle_accel_poll();
	vehicle_control_mode_poll();
	vehicle_manual_poll();
	vehicle_status_poll();
	vehicle_land_detected_poll();

	/* wakeup source */
	px4_pollfd_struct_t fds[2];

	/* Setup of loop */
	fds[0].fd = _params_sub;
	fds[0].events = POLLIN;
	fds[1].fd = _ctrl_state_sub;
	fds[1].events = POLLIN;

	_task_running = true;

	while (!_task_should_exit) {
		static int loop_counter = 0;

		/* wait for up to 500ms for data */
		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);

		/* timed out - periodic check for _task_should_exit, etc. */
		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);
			continue;
		}

		perf_begin(_loop_perf);

		/* only update parameters if they changed */
		if (fds[0].revents & POLLIN) {
			/* read from param to clear updated flag */
			struct parameter_update_s update;
			orb_copy(ORB_ID(parameter_update), _params_sub, &update);

			/* update parameters from storage */
			parameters_update();
		}

		/* only run controller if attitude changed */
		if (fds[1].revents & POLLIN) {
			static uint64_t last_run = 0;
			float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
			last_run = hrt_absolute_time();

			/* guard against too large deltaT's */
			if (deltaT > 1.0f) {
				deltaT = 0.01f;
			}

			/* load local copies */
			orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);


			/* get current rotation matrix and euler angles from control state quaternions */
			math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
			_R = q_att.to_dcm();

			math::Vector<3> euler_angles;
			euler_angles = _R.to_euler();
			_roll    = euler_angles(0);
			_pitch   = euler_angles(1);
			_yaw     = euler_angles(2);

			if (_vehicle_status.is_vtol && _parameters.vtol_type == 0) {
				/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
				 *
				 * Since the VTOL airframe is initialized as a multicopter we need to
				 * modify the estimated attitude for the fixed wing operation.
				 * Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
				 * the pitch axis compared to the neutral position of the vehicle in multicopter mode
				 * we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
				 * Additionally, in order to get the correct sign of the pitch, we need to multiply
				 * the new x axis of the rotation matrix with -1
				 *
				 * original:			modified:
				 *
				 * Rxx  Ryx  Rzx		-Rzx  Ryx  Rxx
				 * Rxy	Ryy  Rzy		-Rzy  Ryy  Rxy
				 * Rxz	Ryz  Rzz		-Rzz  Ryz  Rxz
				 * */
				math::Matrix<3, 3> R_adapted = _R;		//modified rotation matrix

				/* move z to x */
				R_adapted(0, 0) = _R(0, 2);
				R_adapted(1, 0) = _R(1, 2);
				R_adapted(2, 0) = _R(2, 2);

				/* move x to z */
				R_adapted(0, 2) = _R(0, 0);
				R_adapted(1, 2) = _R(1, 0);
				R_adapted(2, 2) = _R(2, 0);

				/* change direction of pitch (convert to right handed system) */
				R_adapted(0, 0) = -R_adapted(0, 0);
				R_adapted(1, 0) = -R_adapted(1, 0);
				R_adapted(2, 0) = -R_adapted(2, 0);
				euler_angles = R_adapted.to_euler();  //adapted euler angles for fixed wing operation

				/* fill in new attitude data */
				_R = R_adapted;
				_roll    = euler_angles(0);
				_pitch   = euler_angles(1);
				_yaw     = euler_angles(2);

				/* lastly, roll- and yawspeed have to be swaped */
				float helper = _ctrl_state.roll_rate;
				_ctrl_state.roll_rate = -_ctrl_state.yaw_rate;
				_ctrl_state.yaw_rate = helper;
			}

			vehicle_setpoint_poll();

			vehicle_accel_poll();

			vehicle_control_mode_poll();

			vehicle_manual_poll();

			global_pos_poll();

			vehicle_status_poll();

			vehicle_land_detected_poll();

			// the position controller will not emit attitude setpoints in some modes
			// we need to make sure that this flag is reset
			_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;

			/* lock integrator until control is started */
			bool lock_integrator;

			if (_vcontrol_mode.flag_control_attitude_enabled && !_vehicle_status.is_rotary_wing) {
				lock_integrator = false;

			} else {
				lock_integrator = true;
			}

			/* Simple handling of failsafe: deploy parachute if failsafe is on */
			if (_vcontrol_mode.flag_control_termination_enabled) {
				_actuators_airframe.control[7] = 1.0f;
				//warnx("_actuators_airframe.control[1] = 1.0f;");

			} else {
				_actuators_airframe.control[7] = 0.0f;
				//warnx("_actuators_airframe.control[1] = -1.0f;");
			}

			/* if we are in rotary wing mode, do nothing */
			if (_vehicle_status.is_rotary_wing && !_vehicle_status.is_vtol) {
				continue;
			}

			/* default flaps to center */
			float flap_control = 0.0f;

			/* map flaps by default to manual if valid */
			if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled
			    && fabsf(_parameters.flaps_scale) > 0.01f) {
				flap_control = 0.5f * (_manual.flaps + 1.0f) * _parameters.flaps_scale;

			} else if (_vcontrol_mode.flag_control_auto_enabled
				   && fabsf(_parameters.flaps_scale) > 0.01f) {
				flap_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f;
			}

			// move the actual control value continuous with time, full flap travel in 1sec
			if (fabsf(_flaps_applied - flap_control) > 0.01f) {
				_flaps_applied += (_flaps_applied - flap_control) < 0 ? deltaT : -deltaT;

			} else {
				_flaps_applied = flap_control;
			}

			/* default flaperon to center */
			float flaperon_control = 0.0f;

			/* map flaperons by default to manual if valid */
			if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled
			    && fabsf(_parameters.flaperon_scale) > 0.01f) {
				flaperon_control = 0.5f * (_manual.aux2 + 1.0f) * _parameters.flaperon_scale;

			} else if (_vcontrol_mode.flag_control_auto_enabled
				   && fabsf(_parameters.flaperon_scale) > 0.01f) {
				flaperon_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f;
			}

			// move the actual control value continuous with time, full flap travel in 1sec
			if (fabsf(_flaperons_applied - flaperon_control) > 0.01f) {
				_flaperons_applied += (_flaperons_applied - flaperon_control) < 0 ? deltaT : -deltaT;

			} else {
				_flaperons_applied = flaperon_control;
			}

			/* decide if in stabilized or full manual control */
			if (_vcontrol_mode.flag_control_attitude_enabled) {
				/* scale around tuning airspeed */
				float airspeed;

				/* if airspeed is not updating, we assume the normal average speed */
				if (bool nonfinite = !PX4_ISFINITE(_ctrl_state.airspeed) || !_ctrl_state.airspeed_valid) {
					airspeed = _parameters.airspeed_trim;

					if (nonfinite) {
						perf_count(_nonfinite_input_perf);
					}

				} else {
					/* prevent numerical drama by requiring 0.5 m/s minimal speed */
					airspeed = math::max(0.5f, _ctrl_state.airspeed);
				}

				/*
				 * For scaling our actuators using anything less than the min (close to stall)
				 * speed doesn't make any sense - its the strongest reasonable deflection we
				 * want to do in flight and its the baseline a human pilot would choose.
				 *
				 * Forcing the scaling to this value allows reasonable handheld tests.
				 */
				float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min :
							 airspeed);

				/* Use min airspeed to calculate ground speed scaling region.
				 * Don't scale below gspd_scaling_trim
				 */
				float groundspeed = sqrtf(_global_pos.vel_n * _global_pos.vel_n +
							  _global_pos.vel_e * _global_pos.vel_e);
				float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f);
				float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed);

				float roll_sp = _parameters.rollsp_offset_rad;
				float pitch_sp = _parameters.pitchsp_offset_rad;
				float yaw_sp = 0.0f;
				float yaw_manual = 0.0f;
				float throttle_sp = 0.0f;

				// in STABILIZED mode we need to generate the attitude setpoint
				// from manual user inputs
				if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
					_att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad;
					_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max);
					_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
					_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max);
					_att_sp.yaw_body = 0.0f;
					_att_sp.thrust = _manual.z;
					int instance;
					orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT);
				}

				roll_sp = _att_sp.roll_body;
				pitch_sp = _att_sp.pitch_body;
				yaw_sp = _att_sp.yaw_body;
				throttle_sp = _att_sp.thrust;

				/* allow manual yaw in manual modes */
				if (_vcontrol_mode.flag_control_manual_enabled) {
					yaw_manual = _manual.r;
				}

				/* reset integrals where needed */
				if (_att_sp.roll_reset_integral) {
					_roll_ctrl.reset_integrator();
				}

				if (_att_sp.pitch_reset_integral) {
					_pitch_ctrl.reset_integrator();
				}

				if (_att_sp.yaw_reset_integral) {
					_yaw_ctrl.reset_integrator();
					_wheel_ctrl.reset_integrator();
				}

				/* If the aircraft is on ground reset the integrators */
				if (_vehicle_land_detected.landed || _vehicle_status.is_rotary_wing) {
					_roll_ctrl.reset_integrator();
					_pitch_ctrl.reset_integrator();
					_yaw_ctrl.reset_integrator();
					_wheel_ctrl.reset_integrator();
				}

				/* Prepare speed_body_u and speed_body_w */
				float speed_body_u = _R(0, 0) * _global_pos.vel_n + _R(1, 0) * _global_pos.vel_e + _R(2, 0) * _global_pos.vel_d;
				float speed_body_v = _R(0, 1) * _global_pos.vel_n + _R(1, 1) * _global_pos.vel_e + _R(2, 1) * _global_pos.vel_d;
				float speed_body_w = _R(0, 2) * _global_pos.vel_n + _R(1, 2) * _global_pos.vel_e + _R(2, 2) * _global_pos.vel_d;

				/* Prepare data for attitude controllers */
				struct ECL_ControlData control_input = {};
				control_input.roll = _roll;
				control_input.pitch = _pitch;
				control_input.yaw = _yaw;
				control_input.roll_rate = _ctrl_state.roll_rate;
				control_input.pitch_rate = _ctrl_state.pitch_rate;
				control_input.yaw_rate = _ctrl_state.yaw_rate;
				control_input.speed_body_u = speed_body_u;
				control_input.speed_body_v = speed_body_v;
				control_input.speed_body_w = speed_body_w;
				control_input.acc_body_x = _accel.x;
				control_input.acc_body_y = _accel.y;
				control_input.acc_body_z = _accel.z;
				control_input.roll_setpoint = roll_sp;
				control_input.pitch_setpoint = pitch_sp;
				control_input.yaw_setpoint = yaw_sp;
				control_input.airspeed_min = _parameters.airspeed_min;
				control_input.airspeed_max = _parameters.airspeed_max;
				control_input.airspeed = airspeed;
				control_input.scaler = airspeed_scaling;
				control_input.lock_integrator = lock_integrator;
				control_input.groundspeed = groundspeed;
				control_input.groundspeed_scaler = groundspeed_scaler;

				_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);

				/* Run attitude controllers */
				if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {
					_roll_ctrl.control_attitude(control_input);
					_pitch_ctrl.control_attitude(control_input);
					_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
					_wheel_ctrl.control_attitude(control_input);

					/* Update input data for rate controllers */
					control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
					control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate();
					control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate();

					/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
					float roll_u = _roll_ctrl.control_bodyrate(control_input);
					_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll :
							_parameters.trim_roll;

					if (!PX4_ISFINITE(roll_u)) {
						_roll_ctrl.reset_integrator();
						perf_count(_nonfinite_output_perf);

						if (_debug && loop_counter % 10 == 0) {
							warnx("roll_u %.4f", (double)roll_u);
						}
					}

					float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
					_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch :
							_parameters.trim_pitch;

					if (!PX4_ISFINITE(pitch_u)) {
						_pitch_ctrl.reset_integrator();
						perf_count(_nonfinite_output_perf);

						if (_debug && loop_counter % 10 == 0) {
							warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
							      " airspeed %.4f, airspeed_scaling %.4f,"
							      " roll_sp %.4f, pitch_sp %.4f,"
							      " _roll_ctrl.get_desired_rate() %.4f,"
							      " _pitch_ctrl.get_desired_rate() %.4f"
							      " att_sp.roll_body %.4f",
							      (double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
							      (double)airspeed, (double)airspeed_scaling,
							      (double)roll_sp, (double)pitch_sp,
							      (double)_roll_ctrl.get_desired_rate(),
							      (double)_pitch_ctrl.get_desired_rate(),
							      (double)_att_sp.roll_body);
						}
					}

					float yaw_u = 0.0f;

					if (_att_sp.fw_control_yaw == true) {
						yaw_u = _wheel_ctrl.control_bodyrate(control_input);
					}

					else {
						yaw_u = _yaw_ctrl.control_bodyrate(control_input);
					}

					_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
							_parameters.trim_yaw;

					/* add in manual rudder control */
					_actuators.control[actuator_controls_s::INDEX_YAW] += yaw_manual;

					if (!PX4_ISFINITE(yaw_u)) {
						_yaw_ctrl.reset_integrator();
						_wheel_ctrl.reset_integrator();
						perf_count(_nonfinite_output_perf);

						if (_debug && loop_counter % 10 == 0) {
							warnx("yaw_u %.4f", (double)yaw_u);
						}
					}

					/* throttle passed through if it is finite and if no engine failure was
					 * detected */
					_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp) &&
							!(_vehicle_status.engine_failure ||
							  _vehicle_status.engine_failure_cmd)) ?
							throttle_sp : 0.0f;

					if (!PX4_ISFINITE(throttle_sp)) {
						if (_debug && loop_counter % 10 == 0) {
							warnx("throttle_sp %.4f", (double)throttle_sp);
						}
					}

				} else {
					perf_count(_nonfinite_input_perf);

					if (_debug && loop_counter % 10 == 0) {
						warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
					}
				}

				/*
				 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
				 * only once available
				 */
				_rates_sp.roll = _roll_ctrl.get_desired_rate();
				_rates_sp.pitch = _pitch_ctrl.get_desired_rate();
				_rates_sp.yaw = _yaw_ctrl.get_desired_rate();

				_rates_sp.timestamp = hrt_absolute_time();

				if (_rate_sp_pub != nullptr) {
					/* publish the attitude rates setpoint */
					orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);

				} else if (_rates_sp_id) {
					/* advertise the attitude rates setpoint */
					_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
				}

			} else {
				/* manual/direct control */
				_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll;
				_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale +
						_parameters.trim_pitch;
				_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _parameters.man_yaw_scale + _parameters.trim_yaw;
				_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
			}

			_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_applied;
			_actuators.control[actuator_controls_s::INDEX_SPOILERS] = _manual.aux1;
			_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = _flaperons_applied;
			// FIXME: this should use _vcontrol_mode.landing_gear_pos in the future
			_actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = _actuators.control[actuator_controls_s::INDEX_YAW] - _parameters.trim_yaw + _parameters.trim_steer + _manual.aux3;

			/* lazily publish the setpoint only once available */
			_actuators.timestamp = hrt_absolute_time();
			_actuators.timestamp_sample = _ctrl_state.timestamp;
			_actuators_airframe.timestamp = hrt_absolute_time();
			_actuators_airframe.timestamp_sample = _ctrl_state.timestamp;

			/* Only publish if any of the proper modes are enabled */
			if (_vcontrol_mode.flag_control_rates_enabled ||
			    _vcontrol_mode.flag_control_attitude_enabled ||
			    _vcontrol_mode.flag_control_manual_enabled) {
				/* publish the actuator controls */
				if (_actuators_0_pub != nullptr) {
					orb_publish(_actuators_id, _actuators_0_pub, &_actuators);

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

				if (_actuators_2_pub != nullptr) {
					/* publish the actuator controls*/
					orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);

				} else {
					/* advertise and publish */
					_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
				}
			}
		}

		loop_counter++;
		perf_end(_loop_perf);
	}

	warnx("exiting.\n");

	_control_task = -1;
	_task_running = false;
}
void
FixedwingAttitudeControl::task_main()
{
	/*
	 * do subscriptions
	 */
	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
	_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
	_params_sub = orb_subscribe(ORB_ID(parameter_update));
	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));

	/* rate limit vehicle status updates to 5Hz */
	orb_set_interval(_vcontrol_mode_sub, 200);
	/* do not limit the attitude updates in order to minimize latency.
	 * actuator outputs are still limited by the individual drivers
	 * properly to not saturate IO or physical limitations */

	parameters_update();

	/* get an initial update for all sensor and status data */
	vehicle_airspeed_poll();
	vehicle_setpoint_poll();
	vehicle_accel_poll();
	vehicle_control_mode_poll();
	vehicle_manual_poll();
	vehicle_status_poll();

	/* wakeup source(s) */
	struct pollfd fds[2];

	/* Setup of loop */
	fds[0].fd = _params_sub;
	fds[0].events = POLLIN;
	fds[1].fd = _att_sub;
	fds[1].events = POLLIN;

	_task_running = true;

	while (!_task_should_exit) {

		static int loop_counter = 0;

		/* wait for up to 500ms for data */
		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);

		/* timed out - periodic check for _task_should_exit, etc. */
		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);
			continue;
		}

		perf_begin(_loop_perf);

		/* only update parameters if they changed */
		if (fds[0].revents & POLLIN) {
			/* read from param to clear updated flag */
			struct parameter_update_s update;
			orb_copy(ORB_ID(parameter_update), _params_sub, &update);

			/* update parameters from storage */
			parameters_update();
		}

		/* only run controller if attitude changed */
		if (fds[1].revents & POLLIN) {


			static uint64_t last_run = 0;
			float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
			last_run = hrt_absolute_time();

			/* guard against too large deltaT's */
			if (deltaT > 1.0f)
				deltaT = 0.01f;

			/* load local copies */
			orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);

			if (_vehicle_status.is_vtol && _parameters.vtol_type == 0) {
				/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
				 *
				 * Since the VTOL airframe is initialized as a multicopter we need to
				 * modify the estimated attitude for the fixed wing operation.
				 * Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
				 * the pitch axis compared to the neutral position of the vehicle in multicopter mode
				 * we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
				 * Additionally, in order to get the correct sign of the pitch, we need to multiply
				 * the new x axis of the rotation matrix with -1
				 *
				 * original:			modified:
				 *
				 * Rxx  Ryx  Rzx		-Rzx  Ryx  Rxx
				 * Rxy	Ryy  Rzy		-Rzy  Ryy  Rxy
				 * Rxz	Ryz  Rzz		-Rzz  Ryz  Rxz
				 * */
				math::Matrix<3, 3> R;				//original rotation matrix
				math::Matrix<3, 3> R_adapted;		//modified rotation matrix
				R.set(_att.R);
				R_adapted.set(_att.R);

				/* move z to x */
				R_adapted(0, 0) = R(0, 2);
				R_adapted(1, 0) = R(1, 2);
				R_adapted(2, 0) = R(2, 2);

				/* move x to z */
				R_adapted(0, 2) = R(0, 0);
				R_adapted(1, 2) = R(1, 0);
				R_adapted(2, 2) = R(2, 0);

				/* change direction of pitch (convert to right handed system) */
				R_adapted(0, 0) = -R_adapted(0, 0);
				R_adapted(1, 0) = -R_adapted(1, 0);
				R_adapted(2, 0) = -R_adapted(2, 0);
				math::Vector<3> euler_angles;		//adapted euler angles for fixed wing operation
				euler_angles = R_adapted.to_euler();

				/* fill in new attitude data */
				_att.roll    = euler_angles(0);
				_att.pitch   = euler_angles(1);
				_att.yaw     = euler_angles(2);
				PX4_R(_att.R, 0, 0) = R_adapted(0, 0);
				PX4_R(_att.R, 0, 1) = R_adapted(0, 1);
				PX4_R(_att.R, 0, 2) = R_adapted(0, 2);
				PX4_R(_att.R, 1, 0) = R_adapted(1, 0);
				PX4_R(_att.R, 1, 1) = R_adapted(1, 1);
				PX4_R(_att.R, 1, 2) = R_adapted(1, 2);
				PX4_R(_att.R, 2, 0) = R_adapted(2, 0);
				PX4_R(_att.R, 2, 1) = R_adapted(2, 1);
				PX4_R(_att.R, 2, 2) = R_adapted(2, 2);

				/* lastly, roll- and yawspeed have to be swaped */
				float helper = _att.rollspeed;
				_att.rollspeed = -_att.yawspeed;
				_att.yawspeed = helper;
			}

			vehicle_airspeed_poll();

			vehicle_setpoint_poll();

			vehicle_accel_poll();

			vehicle_control_mode_poll();

			vehicle_manual_poll();

			global_pos_poll();

			vehicle_status_poll();

			/* lock integrator until control is started */
			bool lock_integrator;

			if (_vcontrol_mode.flag_control_attitude_enabled && !_vehicle_status.is_rotary_wing) {
				lock_integrator = false;

			} else {
				lock_integrator = true;
			}

			/* Simple handling of failsafe: deploy parachute if failsafe is on */
			if (_vcontrol_mode.flag_control_termination_enabled) {
				_actuators_airframe.control[7] = 1.0f;
				//warnx("_actuators_airframe.control[1] = 1.0f;");
			} else {
				_actuators_airframe.control[7] = 0.0f;
				//warnx("_actuators_airframe.control[1] = -1.0f;");
			}

			/* default flaps to center */
			float flaps_control = 0.0f;

			/* map flaps by default to manual if valid */
			if (isfinite(_manual.flaps)) {
				flaps_control = _manual.flaps;
			}

			/* decide if in stabilized or full manual control */

			if (_vcontrol_mode.flag_control_attitude_enabled) {

				/* scale around tuning airspeed */

				float airspeed;

				/* if airspeed is not updating, we assume the normal average speed */
				if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
				    hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
					airspeed = _parameters.airspeed_trim;
					if (nonfinite) {
						perf_count(_nonfinite_input_perf);
					}
				} else {
					/* prevent numerical drama by requiring 0.5 m/s minimal speed */
					airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s);
				}

				/*
				 * For scaling our actuators using anything less than the min (close to stall)
				 * speed doesn't make any sense - its the strongest reasonable deflection we
				 * want to do in flight and its the baseline a human pilot would choose.
				 *
				 * Forcing the scaling to this value allows reasonable handheld tests.
				 */

				float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed);

				float roll_sp = _parameters.rollsp_offset_rad;
				float pitch_sp = _parameters.pitchsp_offset_rad;
				float yaw_manual = 0.0f;
				float throttle_sp = 0.0f;

				/* Read attitude setpoint from uorb if
				 * - velocity control or position control is enabled (pos controller is running)
				 * - manual control is disabled (another app may send the setpoint, but it should
				 *   for sure not be set from the remote control values)
				 */
				if (_vcontrol_mode.flag_control_auto_enabled ||
						!_vcontrol_mode.flag_control_manual_enabled) {
					/* read in attitude setpoint from attitude setpoint uorb topic */
					roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
					pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
					throttle_sp = _att_sp.thrust;

					/* reset integrals where needed */
					if (_att_sp.roll_reset_integral) {
						_roll_ctrl.reset_integrator();
					}
					if (_att_sp.pitch_reset_integral) {
						_pitch_ctrl.reset_integrator();
					}
					if (_att_sp.yaw_reset_integral) {
						_yaw_ctrl.reset_integrator();
					}
				} else if (_vcontrol_mode.flag_control_velocity_enabled) {

					/* the pilot does not want to change direction,
					 * take straight attitude setpoint from position controller
					 */
					if (fabsf(_manual.y) < 0.01f && fabsf(_att.roll) < 0.2f) {
						roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
					} else {
						roll_sp = (_manual.y * _parameters.man_roll_max)
								+ _parameters.rollsp_offset_rad;
					}

					pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
					throttle_sp = _att_sp.thrust;

					/* reset integrals where needed */
					if (_att_sp.roll_reset_integral) {
						_roll_ctrl.reset_integrator();
					}
					if (_att_sp.pitch_reset_integral) {
						_pitch_ctrl.reset_integrator();
					}
					if (_att_sp.yaw_reset_integral) {
						_yaw_ctrl.reset_integrator();
					}

				} else if (_vcontrol_mode.flag_control_altitude_enabled) {
 					/*
					 * Velocity should be controlled and manual is enabled.
					*/
					roll_sp = (_manual.y * _parameters.man_roll_max) + _parameters.rollsp_offset_rad;
					pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
					throttle_sp = _att_sp.thrust;

					/* reset integrals where needed */
					if (_att_sp.roll_reset_integral) {
						_roll_ctrl.reset_integrator();
					}
					if (_att_sp.pitch_reset_integral) {
						_pitch_ctrl.reset_integrator();
					}
					if (_att_sp.yaw_reset_integral) {
						_yaw_ctrl.reset_integrator();
					}
				} else {
					/*
					 * Scale down roll and pitch as the setpoints are radians
					 * and a typical remote can only do around 45 degrees, the mapping is
					 * -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
					 *
					 * With this mapping the stick angle is a 1:1 representation of
					 * the commanded attitude.
					 *
					 * The trim gets subtracted here from the manual setpoint to get
					 * the intended attitude setpoint. Later, after the rate control step the
					 * trim is added again to the control signal.
					 */
					roll_sp = (_manual.y * _parameters.man_roll_max) + _parameters.rollsp_offset_rad;
					pitch_sp = -(_manual.x * _parameters.man_pitch_max) + _parameters.pitchsp_offset_rad;
					/* allow manual control of rudder deflection */
					yaw_manual = _manual.r;
					throttle_sp = _manual.z;

					/*
					 * in manual mode no external source should / does emit attitude setpoints.
					 * emit the manual setpoint here to allow attitude controller tuning
					 * in attitude control mode.
					 */
					struct vehicle_attitude_setpoint_s att_sp;
					att_sp.timestamp = hrt_absolute_time();
					att_sp.roll_body = roll_sp;
					att_sp.pitch_body = pitch_sp;
					att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
					att_sp.thrust = throttle_sp;

					/* lazily publish the setpoint only once available */
					if (_attitude_sp_pub > 0 && !_vehicle_status.is_rotary_wing) {
						/* publish the attitude setpoint */
						orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);

					} else if (_attitude_sp_pub < 0 && !_vehicle_status.is_rotary_wing) {
						/* advertise and publish */
						_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
					}
				}

				/* If the aircraft is on ground reset the integrators */
				if (_vehicle_status.condition_landed || _vehicle_status.is_rotary_wing) {
					_roll_ctrl.reset_integrator();
					_pitch_ctrl.reset_integrator();
					_yaw_ctrl.reset_integrator();
				}

				/* Prepare speed_body_u and speed_body_w */
				float speed_body_u = 0.0f;
				float speed_body_v = 0.0f;
				float speed_body_w = 0.0f;
				if(_att.R_valid) 	{
					speed_body_u = PX4_R(_att.R, 0, 0) * _global_pos.vel_n + PX4_R(_att.R, 1, 0) * _global_pos.vel_e + PX4_R(_att.R, 2, 0) * _global_pos.vel_d;
					speed_body_v = PX4_R(_att.R, 0, 1) * _global_pos.vel_n + PX4_R(_att.R, 1, 1) * _global_pos.vel_e + PX4_R(_att.R, 2, 1) * _global_pos.vel_d;
					speed_body_w = PX4_R(_att.R, 0, 2) * _global_pos.vel_n + PX4_R(_att.R, 1, 2) * _global_pos.vel_e + PX4_R(_att.R, 2, 2) * _global_pos.vel_d;
				} else	{
					if (_debug && loop_counter % 10 == 0) {
						warnx("Did not get a valid R\n");
					}
				}

				/* Prepare data for attitude controllers */
				struct ECL_ControlData control_input = {};
				control_input.roll = _att.roll;
				control_input.pitch = _att.pitch;
				control_input.yaw = _att.yaw;
				control_input.roll_rate = _att.rollspeed;
				control_input.pitch_rate = _att.pitchspeed;
				control_input.yaw_rate = _att.yawspeed;
				control_input.speed_body_u = speed_body_u;
				control_input.speed_body_v = speed_body_v;
				control_input.speed_body_w = speed_body_w;
				control_input.acc_body_x = _accel.x;
				control_input.acc_body_y = _accel.y;
				control_input.acc_body_z = _accel.z;
				control_input.roll_setpoint = roll_sp;
				control_input.pitch_setpoint = pitch_sp;
				control_input.airspeed_min = _parameters.airspeed_min;
				control_input.airspeed_max = _parameters.airspeed_max;
				control_input.airspeed = airspeed;
				control_input.scaler = airspeed_scaling;
				control_input.lock_integrator = lock_integrator;

				/* Run attitude controllers */
				if (isfinite(roll_sp) && isfinite(pitch_sp)) {
					_roll_ctrl.control_attitude(control_input);
					_pitch_ctrl.control_attitude(control_input);
					_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude

					/* Update input data for rate controllers */
					control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
					control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate();
					control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate();

					/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
					float roll_u = _roll_ctrl.control_bodyrate(control_input);
					_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
					if (!isfinite(roll_u)) {
						_roll_ctrl.reset_integrator();
						perf_count(_nonfinite_output_perf);

						if (_debug && loop_counter % 10 == 0) {
							warnx("roll_u %.4f", (double)roll_u);
						}
					}

					float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
					_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
					if (!isfinite(pitch_u)) {
						_pitch_ctrl.reset_integrator();
						perf_count(_nonfinite_output_perf);
						if (_debug && loop_counter % 10 == 0) {
							warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
								" airspeed %.4f, airspeed_scaling %.4f,"
								" roll_sp %.4f, pitch_sp %.4f,"
								" _roll_ctrl.get_desired_rate() %.4f,"
								" _pitch_ctrl.get_desired_rate() %.4f"
								" att_sp.roll_body %.4f",
								(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
								(double)airspeed, (double)airspeed_scaling,
								(double)roll_sp, (double)pitch_sp,
								(double)_roll_ctrl.get_desired_rate(),
								(double)_pitch_ctrl.get_desired_rate(),
								(double)_att_sp.roll_body);
						}
					}

					float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
					_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;

					/* add in manual rudder control */
					_actuators.control[2] += yaw_manual;
					if (!isfinite(yaw_u)) {
						_yaw_ctrl.reset_integrator();
						perf_count(_nonfinite_output_perf);
						if (_debug && loop_counter % 10 == 0) {
							warnx("yaw_u %.4f", (double)yaw_u);
						}
					}

					/* throttle passed through if it is finite and if no engine failure was
					 * detected */
					_actuators.control[3] = (isfinite(throttle_sp) &&
							!(_vehicle_status.engine_failure ||
								_vehicle_status.engine_failure_cmd)) ?
						throttle_sp : 0.0f;
					if (!isfinite(throttle_sp)) {
						if (_debug && loop_counter % 10 == 0) {
							warnx("throttle_sp %.4f", (double)throttle_sp);
						}
					}
				} else {
					perf_count(_nonfinite_input_perf);
					if (_debug && loop_counter % 10 == 0) {
						warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
					}
				}

				/*
				 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
				 * only once available
				 */
				_rates_sp.roll = _roll_ctrl.get_desired_rate();
				_rates_sp.pitch = _pitch_ctrl.get_desired_rate();
				_rates_sp.yaw = _yaw_ctrl.get_desired_rate();

				_rates_sp.timestamp = hrt_absolute_time();

				if (_rate_sp_pub > 0) {
					/* publish the attitude rates setpoint */
					orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
				} else if (_rates_sp_id) {
					/* advertise the attitude rates setpoint */
					_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
				}

			} else {
				/* manual/direct control */
				_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll;
				_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch;
				_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw;
				_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
			}

			_actuators.control[actuator_controls_s::INDEX_FLAPS] = flaps_control;
			_actuators.control[5] = _manual.aux1;
			_actuators.control[6] = _manual.aux2;
			_actuators.control[7] = _manual.aux3;

			/* lazily publish the setpoint only once available */
			_actuators.timestamp = hrt_absolute_time();
			_actuators.timestamp_sample = _att.timestamp;
			_actuators_airframe.timestamp = hrt_absolute_time();
			_actuators_airframe.timestamp_sample = _att.timestamp;

			/* Only publish if any of the proper modes are enabled */
			if(_vcontrol_mode.flag_control_rates_enabled ||
			   _vcontrol_mode.flag_control_attitude_enabled ||
			   _vcontrol_mode.flag_control_manual_enabled)
			{
				/* publish the actuator controls */
				if (_actuators_0_pub > 0) {
					orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
				} else if (_actuators_id) {
					_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
				}

				if (_actuators_2_pub > 0) {
					/* publish the actuator controls*/
					orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);

				} else {
					/* advertise and publish */
					_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
				}
			}
		}

		loop_counter++;
		perf_end(_loop_perf);
	}

	warnx("exiting.\n");

	_control_task = -1;
	_task_running = false;
	_exit(0);
}
void VtolAttitudeControl::task_main()
{
	warnx("started");
	fflush(stdout);

	/* do subscriptions */
	_v_att_sp_sub          = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
	_mc_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(mc_virtual_rates_setpoint));
	_fw_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(fw_virtual_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));
	_local_pos_sub         = orb_subscribe(ORB_ID(vehicle_local_position));
	_airspeed_sub          = orb_subscribe(ORB_ID(airspeed));
	_battery_status_sub	   = orb_subscribe(ORB_ID(battery_status));

	_actuator_inputs_mc    = orb_subscribe(ORB_ID(actuator_controls_virtual_mc));
	_actuator_inputs_fw    = orb_subscribe(ORB_ID(actuator_controls_virtual_fw));

	parameters_update();  // initialize parameter cache

	/* update vtol vehicle status*/
	_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;

	// make sure we start with idle in mc mode
	set_idle_mc();
	flag_idle_mc = true;

	/* wakeup source*/
	struct pollfd fds[3];	/*input_mc, input_fw, parameters*/

	fds[0].fd     = _actuator_inputs_mc;
	fds[0].events = POLLIN;
	fds[1].fd     = _actuator_inputs_fw;
	fds[1].events = POLLIN;
	fds[2].fd     = _params_sub;
	fds[2].events = POLLIN;

	while (!_task_should_exit) {
		/*Advertise/Publish vtol vehicle status*/
		if (_vtol_vehicle_status_pub > 0) {
			orb_publish(ORB_ID(vtol_vehicle_status), _vtol_vehicle_status_pub, &_vtol_vehicle_status);

		} else {
			_vtol_vehicle_status.timestamp = hrt_absolute_time();
			_vtol_vehicle_status_pub = orb_advertise(ORB_ID(vtol_vehicle_status), &_vtol_vehicle_status);
		}

		/* 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;
		}

		if (fds[2].revents & POLLIN) {	//parameters were updated, read them now
			/* read from param to clear updated flag */
			struct parameter_update_s update;
			orb_copy(ORB_ID(parameter_update), _params_sub, &update);

			/* update parameters from storage */
			parameters_update();
		}

		_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;

		vehicle_control_mode_poll();	//Check for changes in vehicle control mode.
		vehicle_manual_poll();			//Check for changes in manual inputs.
		arming_status_poll();			//Check for arming status updates.
		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
		actuator_controls_fw_poll();	//Check for changes in fw_attitude_control output
		vehicle_rates_sp_mc_poll();
		vehicle_rates_sp_fw_poll();
		parameters_update_poll();
		vehicle_local_pos_poll();			// Check for new sensor values
		vehicle_airspeed_poll();
		vehicle_battery_poll();


		if (_manual_control_sp.aux1 <= 0.0f) {		/* vehicle is in mc mode */
			_vtol_vehicle_status.vtol_in_rw_mode = true;

			if (!flag_idle_mc) {	/* we want to adjust idle speed for mc mode */
				set_idle_mc();
				flag_idle_mc = true;
			}

			/* got data from mc_att_controller */
			if (fds[0].revents & POLLIN) {
				vehicle_manual_poll();	/* update remote input */
				orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);

				// scale pitch control with total airspeed
				scale_mc_output();

				fill_mc_att_control_output();
				fill_mc_att_rates_sp();

				if (_actuators_0_pub > 0) {
					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);

				} else {
					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
				}

				if (_actuators_1_pub > 0) {
					orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);

				} else {
					_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
				}
			}
		}

		if (_manual_control_sp.aux1 >= 0.0f) {			/* vehicle is in fw mode */
			_vtol_vehicle_status.vtol_in_rw_mode = false;

			if (flag_idle_mc) {	/* we want to adjust idle speed for fixed wing mode */
				set_idle_fw();
				flag_idle_mc = false;
			}

			if (fds[1].revents & POLLIN) {		/* got data from fw_att_controller */
				orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
				vehicle_manual_poll();	//update remote input

				fill_fw_att_control_output();
				fill_fw_att_rates_sp();

				if (_actuators_0_pub > 0) {
					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);

				} else {
					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
				}

				if (_actuators_1_pub > 0) {
					orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);

				} else {
					_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
				}
			}
		}

		// publish the attitude rates setpoint
		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);
		}
	}

	warnx("exit");
	_control_task = -1;
	_exit(0);
}