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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/rover_pos_control/RoverPositionControl.cpp
+4 -4
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@@ -122,8 +122,8 @@ RoverPositionControl::manual_control_setpoint_poll()
if (_control_mode.flag_control_attitude_enabled) {
// STABILIZED mode generate the attitude setpoint from manual user inputs
_att_sp.roll_body = 0.0;
_att_sp.pitch_body = 0.0;
float roll_body = 0.0;
float pitch_body = 0.0;
/* reset yaw setpoint to current position if needed */
if (_reset_yaw_sp) {
@@ -137,10 +137,10 @@ RoverPositionControl::manual_control_setpoint_poll()
_manual_yaw_sp = wrap_pi(_manual_yaw_sp + _att_sp.yaw_sp_move_rate * dt);
}
_att_sp.yaw_body = _manual_yaw_sp;
float yaw_body = _manual_yaw_sp;
_att_sp.thrust_body[0] = _manual_control_setpoint.throttle;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
const Quatf q(Eulerf(roll_body, pitch_body, yaw_body));
q.copyTo(_att_sp.q_d);
_att_sp.timestamp = hrt_absolute_time();