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adapted to new vehicle attitude message

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tumbili
2016-04-20 17:51:47 +02:00
committed by Lorenz Meier
parent 215bfaa377
commit 5e0e522903
16 changed files with 142 additions and 94 deletions
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src/modules/commander/commander.cpp
+12 -2
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@@ -78,6 +78,15 @@
#include <systemlib/state_table.h>
#include <systemlib/systemlib.h>
#include <systemlib/hysteresis/hysteresis.h>
#include <sys/stat.h>
#include <string.h>
#include <math.h>
#include <poll.h>
#include <float.h>
#include <matrix/math.hpp>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
@@ -106,7 +115,6 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/uORB.h>
typedef enum VEHICLE_MODE_FLAG
{
@@ -1160,7 +1168,9 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s &
home.y = localPosition.y;
home.z = localPosition.z;
home.yaw = attitude.yaw;
matrix::Quaternion<float> q(&attitude.q[0]);
matrix::Euler<float> euler(q);
home.yaw = euler(2);
PX4_INFO("home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);