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Omni Pos-Ctrl: Added desired roll/pitch attitude setpoint generation

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This commit is contained in:
Azarakhsh Keipour
2020-07-13 14:06:28 -04:00
parent 03e7435fbe
commit 651c75558e
5 changed files with 67 additions and 7 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
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@@ -662,8 +662,9 @@ MulticopterPositionControl::Run()
vehicle_attitude_setpoint_s attitude_setpoint{};
attitude_setpoint.timestamp = time_stamp_now;
float omnni_att_tilt_angle, omnni_att_tilt_dir, omnni_att_roll, omnni_att_pitch;
_control.getAttitudeSetpoint(matrix::Quatf(att.q), _param_omni_att_mode.get(), _param_omni_dfc_max_thr.get(),
attitude_setpoint);
omnni_att_tilt_angle, omnni_att_tilt_dir, omnni_att_roll, omnni_att_pitch, attitude_setpoint);
// Part of landing logic: if ground-contact/maybe landed was detected, turn off
// controller. This message does not have to be logged as part of the vehicle_local_position_setpoint topic.