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Remove euler angles from attitude setpoint (#23482)

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* Remove euler angles from attitude setpoint message

* Remove usage of euler angles in attitude setpoint messages

This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages

* Fix standard vtol
This commit is contained in:
Jaeyoung Lim
2024-08-12 16:42:51 +02:00
committed by GitHub
parent c9343ca11d
commit e008ca24f1
16 changed files with 234 additions and 157 deletions
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src/modules/mavlink/mavlink_receiver.cpp
-5
View File
@@ -1626,11 +1626,6 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
const matrix::Quatf q{attitude_target.q};
q.copyTo(attitude_setpoint.q_d);
matrix::Eulerf euler{q};
attitude_setpoint.roll_body = euler.phi();
attitude_setpoint.pitch_body = euler.theta();
attitude_setpoint.yaw_body = euler.psi();
// TODO: review use case
attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ?
(float)NAN : attitude_target.body_yaw_rate;
src/modules/mavlink/streams/HIGH_LATENCY2.hpp
+3 -1
View File
@@ -264,7 +264,9 @@ private:
vehicle_attitude_setpoint_s attitude_sp;
if (_attitude_sp_sub.update(&attitude_sp)) {
msg->target_heading = static_cast<uint8_t>(math::degrees(matrix::wrap_2pi(attitude_sp.yaw_body)) * 0.5f);
msg->target_heading = static_cast<uint8_t>(math::degrees(matrix::wrap_2pi(matrix::Eulerf(matrix::Quatf(
attitude_sp.q_d)).psi())) * 0.5f);
return true;
}