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commander: publish full home attitude, not only yaw (#19717)

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According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.

Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
This commit is contained in:
Julian Oes
2025-07-09 14:43:31 -08:00
committed by GitHub
parent 9a0b666deb
commit 6855aa57c4
5 changed files with 34 additions and 14 deletions
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msg/versioned/HomePosition.msg
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@@ -12,6 +12,8 @@ float32 x # X coordinate in meters
float32 y # Y coordinate in meters
float32 z # Z coordinate in meters
float32 roll # Pitch angle in radians
float32 pitch # Roll angle in radians
float32 yaw # Yaw angle in radians
bool valid_alt # true when the altitude has been set