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Multicopter attitude setpoint flag absolute yaw control

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This allows to disable absolute yaw control while still using
the attitude quaternion.
This commit is contained in:
Matthias Grob
2020-10-21 08:37:19 +02:00
parent 0b74076265
commit 3684cfee74
3 changed files with 7 additions and 3 deletions
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msg/vehicle_attitude_setpoint.msg
+2 -1
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@@ -4,7 +4,8 @@ float32 roll_body # body angle in NED frame (can be NaN for FW)
float32 pitch_body # body angle in NED frame (can be NaN for FW)
float32 yaw_body # body angle in NED frame (can be NaN for FW)
float32 yaw_sp_move_rate # rad/s (commanded by user)
float32 yaw_sp_move_rate # feed-forward NED yaw angular rate in rad/s
bool absolute_heading_valid # True if absolute heading of attitude quaternion should be tracked
# For quaternion-based attitude control
float32[4] q_d # Desired quaternion for quaternion control