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Adding gimbal rate in gz simulation (#24125)

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* Adding gimbal rate in gz simulation

* add submodule
This commit is contained in:
Perre
2024-12-18 16:25:12 +01:00
committed by GitHub
parent 6b10f1ca12
commit 8a9391321d
2 changed files with 9 additions and 1 deletions
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src/modules/simulation/gz_bridge/GZGimbal.cpp
+8
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@@ -104,6 +104,14 @@ void GZGimbal::gimbalIMUCallback(const gz::msgs::IMU &IMU_data)
IMU_data.orientation().z());
_q_gimbal = q_FLU_to_FRD * q_gimbal_FLU * q_FLU_to_FRD.inversed();
matrix::Vector3f rate = q_FLU_to_FRD.rotateVector(matrix::Vector3f(IMU_data.angular_velocity().x(),
IMU_data.angular_velocity().y(),
IMU_data.angular_velocity().z()));
_gimbal_rate[0] = rate(0);
_gimbal_rate[1] = rate(1);
_gimbal_rate[2] = rate(2);
pthread_mutex_unlock(&_node_mutex);
}