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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/mc_att_control/mc_att_control_main.cpp
-6
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@@ -182,12 +182,6 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
q_sp.copyTo(attitude_setpoint.q_d);
// Transform to euler angles for logging only
const Eulerf euler_sp(q_sp);
attitude_setpoint.roll_body = euler_sp(0);
attitude_setpoint.pitch_body = euler_sp(1);
attitude_setpoint.yaw_body = euler_sp(2);
attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_setpoint.throttle);
attitude_setpoint.timestamp = hrt_absolute_time();