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fw_att_control stabilized mode publish att_sp quat

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Daniel Agar
2017-02-15 23:02:47 -05:00
committed by Andreas Daniel Antener
parent 12e5aca028
commit 9120082b0c
1 changed files with 11 additions and 0 deletions
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11
src/modules/fw_att_control/fw_att_control_main.cpp
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@@ -70,6 +70,9 @@
#include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_status.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
using matrix::Eulerf;
using matrix::Quatf;
/** /**
* Fixedwing attitude control app start / stop handling function * Fixedwing attitude control app start / stop handling function
* *
@@ -980,6 +983,14 @@ FixedwingAttitudeControl::task_main()
_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max); _att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max);
_att_sp.yaw_body = 0.0f; _att_sp.yaw_body = 0.0f;
_att_sp.thrust = _manual.z; _att_sp.thrust = _manual.z;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
_att_sp.q_d[0] = q(0);
_att_sp.q_d[1] = q(1);
_att_sp.q_d[2] = q(2);
_att_sp.q_d[3] = q(3);
_att_sp.q_d_valid = true;
int instance; int instance;
orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT); orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT);
} }