Extend attitude setpoint message to include feedforward rates

2026-10-17 06:53:35 +08:00 · 2024-12-17 16:41:11 +01:00
parent 93c25efb62
commit e46247e426
2 changed files with 8 additions and 0 deletions
@@ -7,6 +7,9 @@ float32 yaw_sp_move_rate	# rad/s (commanded by user)
 # For quaternion-based attitude control
 float32[4] q_d			# Desired quaternion for quaternion control

+# Feedforwaredbody rate setpoints
+float32[3] body_rates_ff	# Feedforward
+
 # For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
 # For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
 float32[3] thrust_body		# Normalized thrust command in body FRD frame [-1,1]