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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/uuv_att_control/uuv_att_control.cpp
+6 -6
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@@ -138,9 +138,10 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude
*/
Eulerf euler_angles(matrix::Quatf(attitude.q));
float roll_body = attitude_setpoint.roll_body;
float pitch_body = attitude_setpoint.pitch_body;
float yaw_body = attitude_setpoint.yaw_body;
const Eulerf setpoint_euler_angles(matrix::Quatf(attitude_setpoint.q_d));
const float roll_body = setpoint_euler_angles(0);
const float pitch_body = setpoint_euler_angles(1);
const float yaw_body = setpoint_euler_angles(2);
float roll_rate_desired = rates_setpoint.roll;
float pitch_rate_desired = rates_setpoint.pitch;
@@ -227,9 +228,8 @@ void UUVAttitudeControl::Run()
_vehicle_rates_setpoint_sub.update(&_rates_setpoint);
if (input_mode == 1) { // process manual data
_attitude_setpoint.roll_body = _param_direct_roll.get();
_attitude_setpoint.pitch_body = _param_direct_pitch.get();
_attitude_setpoint.yaw_body = _param_direct_yaw.get();
Quatf attitude_setpoint(Eulerf(_param_direct_roll.get(), _param_direct_pitch.get(), _param_direct_yaw.get()));
attitude_setpoint.copyTo(_attitude_setpoint.q_d);
_attitude_setpoint.thrust_body[0] = _param_direct_thrust.get();
_attitude_setpoint.thrust_body[1] = 0.f;
_attitude_setpoint.thrust_body[2] = 0.f;