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ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters (#13249)

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* Conversions lib: add quaternion getter

* vehicle_status: add flag is_vtol_tailsitter

* ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters
This commit is contained in:
Julien Lecoeur
2019-10-28 09:27:53 +01:00
committed by Julian Oes
parent 380cae18d1
commit 8f910f8435
7 changed files with 50 additions and 2 deletions
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src/modules/commander/Commander.cpp
+2
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@@ -1378,6 +1378,7 @@ Commander::run()
}
status.is_vtol = is_vtol(&status);
status.is_vtol_tailsitter = is_vtol_tailsitter(&status);
commander_boot_timestamp = hrt_absolute_time();
@@ -1498,6 +1499,7 @@ Commander::run()
/* set vehicle_status.is_vtol flag */
status.is_vtol = is_vtol(&status);
status.is_vtol_tailsitter = is_vtol_tailsitter(&status);
/* check and update system / component ID */
int32_t sys_id = 0;