move vehicle_attitude_setpoint to msg format

src/modules/mc_att_control/mc_att_control_base.cpp

@@ -172,7 +172,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
 
 	if (_v_att_sp.R_valid) {
 		/* rotation matrix in _att_sp is valid, use it */
-		R_sp.set(&_v_att_sp.R_body[0][0]);
+		R_sp.set(&_v_att_sp.R_body[0]);
 
 	} else {
 		/* rotation matrix in _att_sp is not valid, use euler angles instead */
@@ -180,7 +180,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
 				_v_att_sp.yaw_body);
 
 		/* copy rotation matrix back to setpoint struct */
-		memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0],
+		memcpy(&_v_att_sp.R_body[0], &R_sp.data[0][0],
 		       sizeof(_v_att_sp.R_body));
 		_v_att_sp.R_valid = true;
 	}

src/modules/mc_att_control/mc_att_control_base.h

@@ -34,7 +34,7 @@
 
 /**
  * @file mc_att_control_base.h
- * 
+ *
  * MC Attitude Controller
  *
  * @author Tobias Naegeli <naegelit@student.ethz.ch>
@@ -45,23 +45,20 @@
  * @author Roman Bapst <bapstr@ethz.ch>
  *
  */
-
+#include <px4.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
 #include <errno.h>
 #include <math.h>
-#include <drivers/drv_hrt.h>
 
-#include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/actuator_armed.h>
-#include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
 #include <lib/mathlib/mathlib.h>
 

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -52,8 +52,7 @@
  * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
  */
 
-#include <nuttx/config.h>
-#include <stdio.h>
+#include <px4.h>
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
@@ -62,8 +61,6 @@
 #include <poll.h>
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
@@ -78,6 +75,7 @@
 #include <systemlib/circuit_breaker.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/geo/geo.h>
+
 #include "mc_att_control_base.h"
 
 /**