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mc_att_control_vector: bugfixes, use float[3][3] type for R in vehicle_attitude_setpoint topic

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Anton Babushkin
2013-11-22 21:49:30 +04:00
parent dada0b8599
commit bae2171edb
2 changed files with 41 additions and 23 deletions
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src/modules/uORB/topics/vehicle_attitude_setpoint.h
+1 -1
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@@ -61,7 +61,7 @@ struct vehicle_attitude_setpoint_s
float yaw_body; /**< body angle in NED frame */
//float body_valid; /**< Set to true if body angles are valid */
float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
float R_body[3][3]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
bool R_valid; /**< Set to true if rotation matrix is valid */
//! For quaternion-based attitude control