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move vehicle_attitude_setpoint to msg format

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Thomas Gubler
2014-12-08 10:37:01 +01:00
parent 65629d09d5
commit 87df7c3243
11 changed files with 66 additions and 64 deletions
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msg/px4_msgs/vehicle_attitude_setpoint.msg
+21
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uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
float32 yaw_body # body angle in NED frame
float32[9] R_body # Rotation matrix describing the setpoint as rotation from the current body frame
bool R_valid # Set to true if rotation matrix is valid
# For quaternion-based attitude control
float32[4] q_d # Desired quaternion for quaternion control
bool q_d_valid # Set to true if quaternion vector is valid
float32[4] q_e # Attitude error in quaternion
bool q_e_valid # Set to true if quaternion error vector is valid
float32 thrust # Thrust in Newton the power system should generate
bool roll_reset_integral # Reset roll integral part (navigation logic change)
bool pitch_reset_integral # Reset pitch integral part (navigation logic change)
bool yaw_reset_integral # Reset yaw integral part (navigation logic change)