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Cleaned up PI wrapping code, still subject to testing

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Lorenz Meier
2012-11-20 15:19:51 +01:00
parent 129e6d73de
commit 6ff4520904
10 changed files with 121 additions and 174 deletions
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apps/uORB/topics/vehicle_attitude_setpoint.h
+2 -7
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@@ -56,18 +56,13 @@ struct vehicle_attitude_setpoint_s
{
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */
float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */
float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */
//float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */
float roll_body; /**< body angle in NED frame */
float pitch_body; /**< body angle in NED frame */
float yaw_body; /**< body angle in NED frame */
//float body_valid; /**< Set to true if body angles are valid */
//float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
//bool R_valid; /**< Set to true if rotation matrix is valid */
float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
bool R_valid; /**< Set to true if rotation matrix is valid */
float thrust; /**< Thrust in Newton the power system should generate */