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Remove attitude setpoint matrix from attitude setpoint topic

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Lorenz Meier
2016-10-18 09:46:12 +02:00
committed by Lorenz Meier
parent 5317d29ffd
commit a12780c88f
8 changed files with 47 additions and 58 deletions
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3
msg/vehicle_attitude_setpoint.msg
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@@ -15,9 +15,6 @@ 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
# For quaternion-based attitude control
float32[4] q_d # Desired quaternion for quaternion control
bool q_d_valid # Set to true if quaternion vector is valid