fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-06 02:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_rates_setpoint: log wheel controller yaw rate on common yaw rate channel

Browse Source
This commit is contained in:
Thomas Stastny
2022-07-12 12:14:19 +02:00
committed by Daniel Agar
parent c447064596
commit 63e4ea23b7
2 changed files with 1 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/vehicle_rates_setpoint.msg
-3
View File
@@ -5,9 +5,6 @@ float32 roll # [rad/s] roll rate setpoint
float32 pitch # [rad/s] pitch rate setpoint
float32 yaw # [rad/s] yaw rate setpoint
# [rad/s] yaw rate setpoint the wheel attempts to track (the wheel controller has different gains than the yaw controller)
float32 yaw_via_wheel
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]