# Mc\_att\_control

**URL:** <https://discuss.px4.io/t/mc-att-control/3994>\
**Category:** PX4 Autopilot\
**Created:** [July 26, 2017, 2:06am UTC](https://discuss.px4.io/t/mc-att-control/3994 "2017-07-26T02:06:10Z")\
**Posts on this page:** 8\
**Page:** 1

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**Author:** ![wanggen123](https://discuss.px4.io/letter_avatar_proxy/v4/letter/w/ee59a6/32.png) [@wanggen123](https://discuss.px4.io/u/wanggen123)\
**Post date:** [July 26, 2017, 2:06am UTC](https://discuss.px4.io/t/mc-att-control/3994/1 "2017-07-26T02:06:10Z")

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Some questions about “mc\_att\_control” hope to get help

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**Author:** ![dagar](https://discuss.px4.io/user_avatar/discuss.px4.io/dagar/32/22_2.png) [@dagar](https://discuss.px4.io/u/dagar)\
**Post date:** [July 30, 2017, 8:59pm UTC](https://discuss.px4.io/t/mc-att-control/3994/2 "2017-07-30T20:59:08Z")

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Do you have an actual question?

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**Author:** ![raju](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/a183cd/32.png) [@raju](https://discuss.px4.io/u/raju)\
**Post date:** [October 5, 2017, 9:10am UTC](https://discuss.px4.io/t/mc-att-control/3994/3 "2017-10-05T09:10:33Z")

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Hello,  
There are three att and pos control source codes – fw\_att/fw\_pos; gnd\_att/gnd\_pos; mc\_att/mc\_pos control sources.  
When the px4 is built for Pixhawk 1/ Nuttx; and configured in the QGroundControl as Multirotor,  
which position and attitude is actually processing the estimations for the control of the copter?

Or are all of them running ? it will lag the entire system!  
Or is it mc\_pos\_control and mc\_att\_control ?

I would need a reply asap for upgrading the firmware and remove some redundant code in the processing !

thank you

raju

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**Author:** ![dagar](https://discuss.px4.io/user_avatar/discuss.px4.io/dagar/32/22_2.png) [@dagar](https://discuss.px4.io/u/dagar)\
**Post date:** [October 8, 2017, 2:59am UTC](https://discuss.px4.io/t/mc-att-control/3994/4 "2017-10-08T02:59:45Z")

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Only the set of controllers is running at a time, except VTOL which hands off between FW and MC.

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**Author:** ![raju](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/a183cd/32.png) [@raju](https://discuss.px4.io/u/raju)\
**Post date:** [October 8, 2017, 12:16pm UTC](https://discuss.px4.io/t/mc-att-control/3994/5 "2017-10-08T12:16:23Z")

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so, your implying that it is only the mc\_att/pos\_control running for the multicopter configuration?

regards

raju

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**Author:** ![dagar](https://discuss.px4.io/user_avatar/discuss.px4.io/dagar/32/22_2.png) [@dagar](https://discuss.px4.io/u/dagar)\
**Post date:** [October 8, 2017, 3:00pm UTC](https://discuss.px4.io/t/mc-att-control/3994/6 "2017-10-08T15:00:33Z")

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Yes, you can run top through the console to see what’s actually running.

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**Author:** ![raju](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/a183cd/32.png) [@raju](https://discuss.px4.io/u/raju)\
**Post date:** [October 12, 2017, 6:20am UTC](https://discuss.px4.io/t/mc-att-control/3994/7 "2017-10-12T06:20:04Z")

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Thank you, sure

Regards

raju

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<div class="post-metadata">

**Author:** ![AlexisTM](https://discuss.px4.io/user_avatar/discuss.px4.io/alexistm/32/3456_2.png) [@AlexisTM](https://discuss.px4.io/u/AlexisTM)\
**Post date:** [October 19, 2017, 9:13am UTC](https://discuss.px4.io/t/mc-att-control/3994/8 "2017-10-19T09:13:42Z")

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mc = Multicopter  
fw = Fixed wing  
gnd = Ground vehicule