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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_pos_control/uuv_pos_control.cpp
+2 -3
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@@ -97,9 +97,8 @@ void UUVPOSControl::publish_attitude_setpoint(const float thrust_x, const float
vehicle_attitude_setpoint_s vehicle_attitude_setpoint = {};
vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
vehicle_attitude_setpoint.roll_body = roll_des;
vehicle_attitude_setpoint.pitch_body = pitch_des;
vehicle_attitude_setpoint.yaw_body = yaw_des;
const Quatf attitude_setpoint(Eulerf(roll_des, pitch_des, yaw_des));
attitude_setpoint.copyTo(vehicle_attitude_setpoint.q_d);
vehicle_attitude_setpoint.thrust_body[0] = thrust_x;
vehicle_attitude_setpoint.thrust_body[1] = thrust_y;