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a707403eaf
This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the PX4 stack, enabling the UAV to follow specific yawrates sent from offboard. It also introduces individual body_rate flags, along the lines of mavros. Tested on a MoCap enabled flight arena in KTH Royal Institute of Technology, Stockholm. The MAV receives RPYrT setpoints from an external PID controller to stabilize around position setpoints. The UAV is also externally disturbed to assess the stability to external unmodeled events. Fixed Kabir comments. Removed deprecated ignore_bodyrate. Fixed integration test.
14 lines
289 B
Plaintext
14 lines
289 B
Plaintext
# Off-board control mode
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uint64 timestamp # time since system start (microseconds)
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bool ignore_thrust
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bool ignore_attitude
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bool ignore_bodyrate_x
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bool ignore_bodyrate_y
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bool ignore_bodyrate_z
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bool ignore_position
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bool ignore_velocity
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bool ignore_acceleration_force
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bool ignore_alt_hold
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