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Omni Pos-Ctrl: The attitude setpoint is generated based on the MC_OMNI_MODE parameter now

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Azarakhsh Keipour
2020-01-21 18:23:07 -05:00
parent 1d8894c930
commit db6b09adf0
6 changed files with 15 additions and 11 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+2 -1
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@@ -169,9 +169,10 @@ public:
* Get the controllers output attitude setpoint
* This attitude setpoint was generated from the resulting acceleration setpoint after position and velocity control.
* It needs to be executed by the attitude controller to achieve velocity and position tracking.
* @param omni_att_mode attitude mode for omnidirectional vehicles: 0-tilted 1-daisy-chain 2-zero-tilt
* @param attitude_setpoint reference to struct to fill up
*/
void getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) const;
void getAttitudeSetpoint(const int omni_att_mode, vehicle_attitude_setpoint_s &attitude_setpoint) const;
private:
/**