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Adding gimbal rate in gz simulation (#24125)

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* Adding gimbal rate in gz simulation

* add submodule
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Perre 2024-12-18 16:25:12 +01:00 committed by GitHub
parent 6b10f1ca12
commit 8a9391321d
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2 changed files with 9 additions and 1 deletions
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2
Tools/simulation/gz

@ -1 +1 @@
Subproject commit f48a17a4b30601ebb11e2f9e3e678fec8a73ebdc Subproject commit 75318c05c0c84d98ac786963d3c333f3bde0d718

8
src/modules/simulation/gz_bridge/GZGimbal.cpp
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@ -104,6 +104,14 @@ void GZGimbal::gimbalIMUCallback(const gz::msgs::IMU &IMU_data)
IMU_data.orientation().z()); IMU_data.orientation().z());
_q_gimbal = q_FLU_to_FRD * q_gimbal_FLU * q_FLU_to_FRD.inversed(); _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); pthread_mutex_unlock(&_node_mutex);
} }