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merge vehicle_angular_acceleration into vehicle_angular_velocity (#20531)

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- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
 - individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
This commit is contained in:
Daniel Agar
2022-11-14 11:03:59 -05:00
committed by GitHub
parent 7d1f1d0f84
commit 9e7db0ed54
13 changed files with 13 additions and 50 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -4
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@@ -305,10 +305,7 @@ void FixedwingAttitudeControl::Run()
float pitchspeed = angular_velocity.xyz[1];
float yawspeed = angular_velocity.xyz[2];
const Vector3f rates(rollspeed, pitchspeed, yawspeed);
vehicle_angular_acceleration_s angular_acceleration{};
_vehicle_angular_acceleration_sub.copy(&angular_acceleration);
const Vector3f angular_accel{angular_acceleration.xyz};
const Vector3f angular_accel{angular_velocity.xyz_derivative};
if (_vehicle_status.is_vtol_tailsitter) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode