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Omni Pos-Ctrl: Current attitude passed to attitude generation methods

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Azarakhsh Keipour
2020-07-13 13:37:21 -04:00
parent f18f92a505
commit 725fff3052
5 changed files with 26 additions and 11 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+1 -1
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@@ -173,7 +173,7 @@ public:
* @param omni_dfc_max_thrust maximum direct-force (horizontal) scaled thrust for omnidirectional vehicles
* @param attitude_setpoint reference to struct to fill up
*/
void getAttitudeSetpoint(const int omni_att_mode, const float omni_dfc_max_thrust,
void getAttitudeSetpoint(const matrix::Quatf &att, const int omni_att_mode, const float omni_dfc_max_thrust,
vehicle_attitude_setpoint_s &attitude_setpoint) const;
private: