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removed attitude setpoint generation from mc_att_controller and moved to mc_pos_controller

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tumbili
2015-02-03 09:24:41 +01:00
parent b25808467c
commit 1a6dd7d02e
5 changed files with 102 additions and 134 deletions
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4
msg/vehicle_attitude_setpoint.msg
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@@ -3,7 +3,9 @@ uint64 timestamp # in microseconds since system start, is set whenever the wr
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
float32 yaw_body # body angle in NED frame
float32 yaw_body # body angle in NED frame
float32 yaw_sp_move_rate # rad/s (commanded by user)
float32[9] R_body # Rotation matrix describing the setpoint as rotation from the current body frame
bool R_valid # Set to true if rotation matrix is valid