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set_attitude_target msg: convert quaternion to R

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Thomas Gubler
2014-08-21 16:24:00 +02:00
parent 3a0bb9c64b
commit 1e7dee4391
1 changed files with 3 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -1
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@@ -689,9 +689,11 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
att_sp.timestamp = hrt_absolute_time();
mavlink_quaternion_to_euler(set_attitude_target.q,
&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, att_sp.R_body);
att_sp.R_valid = true;
att_sp.thrust = set_attitude_target.thrust;
att_sp.q_d_valid = true;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
att_sp.q_d_valid = true;
if (_att_sp_pub < 0) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
} else {