fw_att_control: move ecl/attitude_fw into fw_att_control module

- ecl/attitude_fw was never maintained as a standalone library
 - moving ecl/attitude_fw library into the fw_att_control module to ease further development

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 975060d108e901f3ea70a9b88d1e5fa2112e49ff
+Subproject commit f1aa53db8a8053e5f27a698084a7362f727ce375

src/modules/fw_att_control/CMakeLists.txt

@@ -35,7 +35,13 @@ px4_add_module(
 	MAIN fw_att_control
 	SRCS
 		FixedwingAttitudeControl.cpp
+		FixedwingAttitudeControl.hpp
+
+		ecl_controller.cpp
+		ecl_pitch_controller.cpp
+		ecl_roll_controller.cpp
+		ecl_wheel_controller.cpp
+		ecl_yaw_controller.cpp
 	DEPENDS
-		git_ecl
+		px4_work_queue
-		ecl_attitude_fw
 	)

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -32,10 +32,10 @@
  ****************************************************************************/
 
 #include <drivers/drv_hrt.h>
-#include <lib/ecl/attitude_fw/ecl_pitch_controller.h>
+#include "ecl_pitch_controller.h"
-#include <lib/ecl/attitude_fw/ecl_roll_controller.h>
+#include "ecl_roll_controller.h"
-#include <lib/ecl/attitude_fw/ecl_wheel_controller.h>
+#include "ecl_wheel_controller.h"
-#include <lib/ecl/attitude_fw/ecl_yaw_controller.h>
+#include "ecl_yaw_controller.h"
 #include <lib/ecl/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/parameters/param.h>

src/modules/fw_att_control/ecl_controller.cpp

@@ -0,0 +1,145 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_controller.cpp
+ * Definition of base class for other controllers
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+
+#include "ecl_controller.h"
+
+#include <stdio.h>
+#include <mathlib/mathlib.h>
+
+ECL_Controller::ECL_Controller() :
+	_last_run(0),
+	_tc(0.1f),
+	_k_p(0.0f),
+	_k_i(0.0f),
+	_k_ff(0.0f),
+	_integrator_max(0.0f),
+	_max_rate(0.0f),
+	_last_output(0.0f),
+	_integrator(0.0f),
+	_rate_error(0.0f),
+	_rate_setpoint(0.0f),
+	_bodyrate_setpoint(0.0f)
+{
+}
+
+void ECL_Controller::reset_integrator()
+{
+	_integrator = 0.0f;
+}
+
+void ECL_Controller::set_time_constant(float time_constant)
+{
+	if (time_constant > 0.1f && time_constant < 3.0f) {
+		_tc = time_constant;
+	}
+}
+
+void ECL_Controller::set_k_p(float k_p)
+{
+	_k_p = k_p;
+}
+
+void ECL_Controller::set_k_i(float k_i)
+{
+	_k_i = k_i;
+}
+
+void ECL_Controller::set_k_ff(float k_ff)
+{
+	_k_ff = k_ff;
+}
+
+void ECL_Controller::set_integrator_max(float max)
+{
+	_integrator_max = max;
+}
+
+void ECL_Controller::set_max_rate(float max_rate)
+{
+	_max_rate = max_rate;
+}
+
+void ECL_Controller::set_bodyrate_setpoint(float rate)
+{
+	_bodyrate_setpoint = math::constrain(rate, -_max_rate, _max_rate);
+}
+
+float ECL_Controller::get_rate_error()
+{
+	return _rate_error;
+}
+
+float ECL_Controller::get_desired_rate()
+{
+	return _rate_setpoint;
+}
+
+float ECL_Controller::get_desired_bodyrate()
+{
+	return _bodyrate_setpoint;
+}
+
+float ECL_Controller::get_integrator()
+{
+	return _integrator;
+}
+
+float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float maxspeed)
+{
+	float airspeed_result = airspeed;
+
+	if (!PX4_ISFINITE(airspeed)) {
+		/* airspeed is NaN, +- INF or not available, pick center of band */
+		airspeed_result = 0.5f * (minspeed + maxspeed);
+
+	} else if (airspeed < minspeed) {
+		airspeed_result = minspeed;
+	}
+
+	return airspeed_result;
+}

src/modules/fw_att_control/ecl_controller.h

@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_controller.h
+ * Definition of base class for other controllers
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+#include <px4_log.h>
+
+struct ECL_ControlData {
+	float roll;
+	float pitch;
+	float yaw;
+	float body_x_rate;
+	float body_y_rate;
+	float body_z_rate;
+	float roll_setpoint;
+	float pitch_setpoint;
+	float yaw_setpoint;
+	float roll_rate_setpoint;
+	float pitch_rate_setpoint;
+	float yaw_rate_setpoint;
+	float airspeed_min;
+	float airspeed_max;
+	float airspeed;
+	float scaler;
+	float groundspeed;
+	float groundspeed_scaler;
+	bool lock_integrator;
+};
+
+class ECL_Controller
+{
+public:
+	ECL_Controller();
+	virtual ~ECL_Controller() = default;
+
+	virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
+	virtual float control_euler_rate(const struct ECL_ControlData &ctl_data) = 0;
+	virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0;
+
+	/* Setters */
+	void set_time_constant(float time_constant);
+	void set_k_p(float k_p);
+	void set_k_i(float k_i);
+	void set_k_ff(float k_ff);
+	void set_integrator_max(float max);
+	void set_max_rate(float max_rate);
+	void set_bodyrate_setpoint(float rate);
+
+	/* Getters */
+	float get_rate_error();
+	float get_desired_rate();
+	float get_desired_bodyrate();
+	float get_integrator();
+
+	void reset_integrator();
+
+protected:
+	uint64_t _last_run;
+	float _tc;
+	float _k_p;
+	float _k_i;
+	float _k_ff;
+	float _integrator_max;
+	float _max_rate;
+	float _last_output;
+	float _integrator;
+	float _rate_error;
+	float _rate_setpoint;
+	float _bodyrate_setpoint;
+	float constrain_airspeed(float airspeed, float minspeed, float maxspeed);
+};

src/modules/fw_att_control/ecl_pitch_controller.cpp

@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_pitch_controller.cpp
+ * Implementation of a simple orthogonal pitch PID controller.
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "ecl_pitch_controller.h"
+#include <math.h>
+#include <float.h>
+#include <lib/ecl/geo/geo.h>
+#include <mathlib/mathlib.h>
+
+float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_data)
+{
+
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.pitch_setpoint) &&
+	      PX4_ISFINITE(ctl_data.roll) &&
+	      PX4_ISFINITE(ctl_data.pitch) &&
+	      PX4_ISFINITE(ctl_data.airspeed))) {
+
+		PX4_WARN("not controlling pitch");
+		return _rate_setpoint;
+	}
+
+	/* Calculate the error */
+	float pitch_error = ctl_data.pitch_setpoint - ctl_data.pitch;
+
+	/*  Apply P controller: rate setpoint from current error and time constant */
+	_rate_setpoint =  pitch_error / _tc;
+
+	return _rate_setpoint;
+}
+
+float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.roll) &&
+	      PX4_ISFINITE(ctl_data.pitch) &&
+	      PX4_ISFINITE(ctl_data.body_y_rate) &&
+	      PX4_ISFINITE(ctl_data.body_z_rate) &&
+	      PX4_ISFINITE(ctl_data.yaw_rate_setpoint) &&
+	      PX4_ISFINITE(ctl_data.airspeed_min) &&
+	      PX4_ISFINITE(ctl_data.airspeed_max) &&
+	      PX4_ISFINITE(ctl_data.scaler))) {
+
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
+	/* get the usual dt estimate */
+	uint64_t dt_micros = hrt_elapsed_time(&_last_run);
+	_last_run = hrt_absolute_time();
+	float dt = (float)dt_micros * 1e-6f;
+
+	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
+
+	if (dt_micros > 500000) {
+		lock_integrator = true;
+	}
+
+	_rate_error = _bodyrate_setpoint - ctl_data.body_y_rate;
+
+	if (!lock_integrator && _k_i > 0.0f) {
+
+		float id = _rate_error * dt * ctl_data.scaler;
+
+		/*
+		 * anti-windup: do not allow integrator to increase if actuator is at limit
+		 */
+		if (_last_output < -1.0f) {
+			/* only allow motion to center: increase value */
+			id = math::max(id, 0.0f);
+
+		} else if (_last_output > 1.0f) {
+			/* only allow motion to center: decrease value */
+			id = math::min(id, 0.0f);
+		}
+
+		/* add and constrain */
+		_integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max);
+	}
+
+	/* Apply PI rate controller and store non-limited output */
+	_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
+		       _rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
+		       + _integrator;  //scaler is proportional to 1/airspeed
+
+	return math::constrain(_last_output, -1.0f, 1.0f);
+}
+
+float ECL_PitchController::control_euler_rate(const struct ECL_ControlData &ctl_data)
+{
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = cosf(ctl_data.roll) * _rate_setpoint +
+			     cosf(ctl_data.pitch) * sinf(ctl_data.roll) * ctl_data.yaw_rate_setpoint;
+
+	set_bodyrate_setpoint(_bodyrate_setpoint);
+
+	return control_bodyrate(ctl_data);
+}

src/modules/fw_att_control/ecl_pitch_controller.h

@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_pitch_controller.h
+ * Definition of a simple orthogonal pitch PID controller.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+
+#ifndef ECL_PITCH_CONTROLLER_H
+#define ECL_PITCH_CONTROLLER_H
+
+#include <mathlib/mathlib.h>
+
+#include "ecl_controller.h"
+
+class ECL_PitchController :
+	public ECL_Controller
+{
+public:
+	ECL_PitchController() = default;
+	~ECL_PitchController() = default;
+
+	float control_attitude(const struct ECL_ControlData &ctl_data) override;
+	float control_euler_rate(const struct ECL_ControlData &ctl_data) override;
+	float control_bodyrate(const struct ECL_ControlData &ctl_data) override;
+
+	/* Additional Setters */
+	void set_max_rate_pos(float max_rate_pos)
+	{
+		_max_rate = max_rate_pos;
+	}
+
+	void set_max_rate_neg(float max_rate_neg)
+	{
+		_max_rate_neg = max_rate_neg;
+	}
+
+	void set_bodyrate_setpoint(float rate)
+	{
+		_bodyrate_setpoint = math::constrain(rate, -_max_rate_neg, _max_rate);
+	}
+
+	void set_roll_ff(float roll_ff)
+	{
+		_roll_ff = roll_ff;
+	}
+
+protected:
+	float _max_rate_neg{0.0f};
+	float _roll_ff{0.0f};
+};
+
+#endif // ECL_PITCH_CONTROLLER_H

src/modules/fw_att_control/ecl_roll_controller.cpp

@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_roll_controller.cpp
+ * Implementation of a simple orthogonal roll PID controller.
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "ecl_roll_controller.h"
+#include <float.h>
+#include <lib/ecl/geo/geo.h>
+#include <mathlib/mathlib.h>
+
+float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.roll_setpoint) && PX4_ISFINITE(ctl_data.roll))) {
+		return _rate_setpoint;
+	}
+
+	/* Calculate error */
+	float roll_error = ctl_data.roll_setpoint - ctl_data.roll;
+
+	/* Apply P controller */
+	_rate_setpoint = roll_error / _tc;
+
+	return _rate_setpoint;
+}
+
+float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.pitch) &&
+	      PX4_ISFINITE(ctl_data.body_x_rate) &&
+	      PX4_ISFINITE(ctl_data.body_z_rate) &&
+	      PX4_ISFINITE(ctl_data.yaw_rate_setpoint) &&
+	      PX4_ISFINITE(ctl_data.airspeed_min) &&
+	      PX4_ISFINITE(ctl_data.airspeed_max) &&
+	      PX4_ISFINITE(ctl_data.scaler))) {
+
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
+	/* get the usual dt estimate */
+	uint64_t dt_micros = hrt_elapsed_time(&_last_run);
+	_last_run = hrt_absolute_time();
+	float dt = (float)dt_micros * 1e-6f;
+
+	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
+
+	if (dt_micros > 500000) {
+		lock_integrator = true;
+	}
+
+	/* Calculate body angular rate error */
+	_rate_error = _bodyrate_setpoint - ctl_data.body_x_rate; //body angular rate error
+
+	if (!lock_integrator && _k_i > 0.0f) {
+
+		float id = _rate_error * dt * ctl_data.scaler;
+
+		/*
+		* anti-windup: do not allow integrator to increase if actuator is at limit
+		*/
+		if (_last_output < -1.0f) {
+			/* only allow motion to center: increase value */
+			id = math::max(id, 0.0f);
+
+		} else if (_last_output > 1.0f) {
+			/* only allow motion to center: decrease value */
+			id = math::min(id, 0.0f);
+		}
+
+		/* add and constrain */
+		_integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max);
+	}
+
+	/* Apply PI rate controller and store non-limited output */
+	_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
+		       _rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
+		       + _integrator;  //scaler is proportional to 1/airspeed
+
+	return math::constrain(_last_output, -1.0f, 1.0f);
+}
+
+float ECL_RollController::control_euler_rate(const struct ECL_ControlData &ctl_data)
+{
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = ctl_data.roll_rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint;
+
+	set_bodyrate_setpoint(_bodyrate_setpoint);
+
+	return control_bodyrate(ctl_data);
+
+}

src/modules/fw_att_control/ecl_roll_controller.h

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_roll_controller.h
+ * Definition of a simple orthogonal roll PID controller.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+
+#ifndef ECL_ROLL_CONTROLLER_H
+#define ECL_ROLL_CONTROLLER_H
+
+#include "ecl_controller.h"
+
+class ECL_RollController :
+	public ECL_Controller
+{
+public:
+	ECL_RollController() = default;
+	~ECL_RollController() = default;
+
+	float control_attitude(const struct ECL_ControlData &ctl_data) override;
+	float control_euler_rate(const struct ECL_ControlData &ctl_data) override;
+	float control_bodyrate(const struct ECL_ControlData &ctl_data) override;
+};
+
+#endif // ECL_ROLL_CONTROLLER_H

src/modules/fw_att_control/ecl_wheel_controller.cpp

@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_wheel_controller.cpp
+ * Implementation of a simple PID wheel controller for heading tracking.
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "ecl_wheel_controller.h"
+#include <float.h>
+#include <lib/ecl/geo/geo.h>
+#include <mathlib/mathlib.h>
+#include <matrix/math.hpp>
+
+using matrix::wrap_pi;
+
+float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.body_z_rate) &&
+	      PX4_ISFINITE(ctl_data.groundspeed) &&
+	      PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
+
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
+	/* get the usual dt estimate */
+	uint64_t dt_micros = hrt_elapsed_time(&_last_run);
+	_last_run = hrt_absolute_time();
+	float dt = (float)dt_micros * 1e-6f;
+
+	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
+
+	if (dt_micros > 500000) {
+		lock_integrator = true;
+	}
+
+	/* input conditioning */
+	float min_speed = 1.0f;
+
+	/* Calculate body angular rate error */
+	_rate_error = _rate_setpoint - ctl_data.body_z_rate; //body angular rate error
+
+	if (!lock_integrator && _k_i > 0.0f && ctl_data.groundspeed > min_speed) {
+
+		float id = _rate_error * dt * ctl_data.groundspeed_scaler;
+
+		/*
+		 * anti-windup: do not allow integrator to increase if actuator is at limit
+		 */
+		if (_last_output < -1.0f) {
+			/* only allow motion to center: increase value */
+			id = math::max(id, 0.0f);
+
+		} else if (_last_output > 1.0f) {
+			/* only allow motion to center: decrease value */
+			id = math::min(id, 0.0f);
+		}
+
+		/* add and constrain */
+		_integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max);
+	}
+
+	/* Apply PI rate controller and store non-limited output */
+	_last_output = _rate_setpoint * _k_ff * ctl_data.groundspeed_scaler +
+		       ctl_data.groundspeed_scaler * ctl_data.groundspeed_scaler * (_rate_error * _k_p + _integrator);
+
+	return math::constrain(_last_output, -1.0f, 1.0f);
+}
+
+float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) &&
+	      PX4_ISFINITE(ctl_data.yaw))) {
+
+		return _rate_setpoint;
+	}
+
+	/* Calculate the error */
+	float yaw_error = wrap_pi(ctl_data.yaw_setpoint - ctl_data.yaw);
+
+	/*  Apply P controller: rate setpoint from current error and time constant */
+	_rate_setpoint =  yaw_error / _tc;
+
+	/* limit the rate */
+	if (_max_rate > 0.01f) {
+		if (_rate_setpoint > 0.0f) {
+			_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
+
+		} else {
+			_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
+		}
+
+	}
+
+	return _rate_setpoint;
+}

src/modules/fw_att_control/ecl_wheel_controller.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_wheel_controller.h
+ * Definition of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Andreas Antener <andreas@uaventure.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+#ifndef ECL_HEADING_CONTROLLER_H
+#define ECL_HEADING_CONTROLLER_H
+
+#include "ecl_controller.h"
+
+class ECL_WheelController :
+	public ECL_Controller
+{
+public:
+	ECL_WheelController() = default;
+	~ECL_WheelController() = default;
+
+	float control_attitude(const struct ECL_ControlData &ctl_data) override;
+
+	float control_bodyrate(const struct ECL_ControlData &ctl_data) override;
+
+	float control_euler_rate(const struct ECL_ControlData &ctl_data) override { (void)ctl_data; return 0; }
+};
+
+#endif // ECL_HEADING_CONTROLLER_H

src/modules/fw_att_control/ecl_yaw_controller.cpp

@@ -0,0 +1,207 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_yaw_controller.cpp
+ * Implementation of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "ecl_yaw_controller.h"
+#include <float.h>
+#include <lib/ecl/geo/geo.h>
+#include <mathlib/mathlib.h>
+
+float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data)
+{
+	switch (_coordinated_method) {
+	case COORD_METHOD_OPEN:
+		return control_attitude_impl_openloop(ctl_data);
+
+	case COORD_METHOD_CLOSEACC:
+		return control_attitude_impl_accclosedloop(ctl_data);
+
+	default:
+		static hrt_abstime last_print = 0;
+
+		if (hrt_elapsed_time(&last_print) > 5e6) {
+			PX4_WARN("invalid param setting FW_YCO_METHOD");
+			last_print = hrt_absolute_time();
+		}
+	}
+
+	return _rate_setpoint;
+}
+
+float ECL_YawController::control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.roll) &&
+	      PX4_ISFINITE(ctl_data.pitch) &&
+	      PX4_ISFINITE(ctl_data.roll_rate_setpoint) &&
+	      PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
+
+		return _rate_setpoint;
+	}
+
+	float constrained_roll;
+	bool inverted = false;
+
+	/* roll is used as feedforward term and inverted flight needs to be considered */
+	if (fabsf(ctl_data.roll) < math::radians(90.0f)) {
+		/* not inverted, but numerically still potentially close to infinity */
+		constrained_roll = math::constrain(ctl_data.roll, math::radians(-80.0f), math::radians(80.0f));
+
+	} else {
+		inverted = true;
+
+		// inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity
+		//note: the ranges are extended by 10 deg here to avoid numeric resolution effects
+		if (ctl_data.roll > 0.0f) {
+			/* right hemisphere */
+			constrained_roll = math::constrain(ctl_data.roll, math::radians(100.0f), math::radians(180.0f));
+
+		} else {
+			/* left hemisphere */
+			constrained_roll = math::constrain(ctl_data.roll, math::radians(-180.0f), math::radians(-100.0f));
+		}
+	}
+
+	constrained_roll = math::constrain(constrained_roll, -fabsf(ctl_data.roll_setpoint), fabsf(ctl_data.roll_setpoint));
+
+
+	if (!inverted) {
+		/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
+		_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * CONSTANTS_ONE_G / (ctl_data.airspeed <
+				 ctl_data.airspeed_min ? ctl_data.airspeed_min : ctl_data.airspeed);
+	}
+
+	if (!PX4_ISFINITE(_rate_setpoint)) {
+		PX4_WARN("yaw rate sepoint not finite");
+		_rate_setpoint = 0.0f;
+	}
+
+	return _rate_setpoint;
+}
+
+float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.roll) && PX4_ISFINITE(ctl_data.pitch) && PX4_ISFINITE(ctl_data.body_y_rate) &&
+	      PX4_ISFINITE(ctl_data.body_z_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
+	      PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) &&
+	      PX4_ISFINITE(ctl_data.scaler))) {
+
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
+	/* get the usual dt estimate */
+	uint64_t dt_micros = hrt_elapsed_time(&_last_run);
+	_last_run = hrt_absolute_time();
+	float dt = (float)dt_micros * 1e-6f;
+
+	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
+
+	if (dt_micros > 500000) {
+		lock_integrator = true;
+	}
+
+	/* input conditioning */
+	float airspeed = ctl_data.airspeed;
+
+	if (!PX4_ISFINITE(airspeed)) {
+		/* airspeed is NaN, +- INF or not available, pick center of band */
+		airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+
+	} else if (airspeed < ctl_data.airspeed_min) {
+		airspeed = ctl_data.airspeed_min;
+	}
+
+	/* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */
+	if (_coordinated_method == COORD_METHOD_CLOSEACC) {
+		// XXX lateral acceleration needs to go into integrator with a gain
+		//_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
+	}
+
+	/* Calculate body angular rate error */
+	_rate_error = _bodyrate_setpoint - ctl_data.body_z_rate; // body angular rate error
+
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
+
+		float id = _rate_error * dt;
+
+		/*
+		 * anti-windup: do not allow integrator to increase if actuator is at limit
+		 */
+		if (_last_output < -1.0f) {
+			/* only allow motion to center: increase value */
+			id = math::max(id, 0.0f);
+
+		} else if (_last_output > 1.0f) {
+			/* only allow motion to center: decrease value */
+			id = math::min(id, 0.0f);
+		}
+
+		/* add and constrain */
+		_integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max);
+	}
+
+	/* Apply PI rate controller and store non-limited output */
+	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + _integrator) * ctl_data.scaler *
+		       ctl_data.scaler;  //scaler is proportional to 1/airspeed
+
+
+	return math::constrain(_last_output, -1.0f, 1.0f);
+}
+
+float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data)
+{
+	(void)ctl_data; // unused
+
+	/* dont set a rate setpoint */
+	return 0.0f;
+}
+
+float ECL_YawController::control_euler_rate(const struct ECL_ControlData &ctl_data)
+{
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
+			     cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _rate_setpoint;
+
+	set_bodyrate_setpoint(_bodyrate_setpoint);
+
+	return control_bodyrate(ctl_data);
+
+}

src/modules/fw_att_control/ecl_yaw_controller.h

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_yaw_controller.h
+ * Definition of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+#ifndef ECL_YAW_CONTROLLER_H
+#define ECL_YAW_CONTROLLER_H
+
+#include "ecl_controller.h"
+
+class ECL_YawController :
+	public ECL_Controller
+{
+public:
+	ECL_YawController() = default;
+	~ECL_YawController() = default;
+
+	float control_attitude(const struct ECL_ControlData &ctl_data) override;
+	float control_euler_rate(const struct ECL_ControlData &ctl_data) override;
+	float control_bodyrate(const struct ECL_ControlData &ctl_data) override;
+
+	/* Additional setters */
+	void set_coordinated_min_speed(float coordinated_min_speed)
+	{
+		_coordinated_min_speed = coordinated_min_speed;
+	}
+
+	void set_coordinated_method(int32_t coordinated_method)
+	{
+		_coordinated_method = coordinated_method;
+	}
+
+	enum {
+		COORD_METHOD_OPEN = 0,
+		COORD_METHOD_CLOSEACC = 1
+	};
+
+protected:
+	float _coordinated_min_speed{1.0f};
+	float _max_rate{0.0f};
+
+	int32_t _coordinated_method{COORD_METHOD_OPEN};
+
+	float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);
+
+	float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);
+
+};
+
+#endif // ECL_YAW_CONTROLLER_H