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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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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -778,7 +778,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
att_sp.timestamp = hrt_absolute_time();
mavlink_quaternion_to_euler(set_attitude_target.q,
&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, att_sp.R_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
att_sp.R_valid = true;
att_sp.thrust = set_attitude_target.thrust;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));