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e008ca24f1
* 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
17 lines
789 B
Plaintext
17 lines
789 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 yaw_sp_move_rate # rad/s (commanded by user)
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# For quaternion-based attitude control
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float32[4] q_d # Desired quaternion for quaternion control
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# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
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# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
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float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1]
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bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
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bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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