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90bfdb6f0a
* attitude and rate setpoint message: use 3D array for thrust demand * FixedWingAttitudeControl: rework airspeed scaling * move airspeed and scaling calculation into separate method * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
10 lines
503 B
Plaintext
10 lines
503 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 roll # body angular rates in NED frame
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float32 pitch # body angular rates in NED frame
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float32 yaw # body angular rates in NED frame
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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 NED frame [-1,1]
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