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sync attitude setpoint messages

sbg
Daniel Agar 8 years ago committed by Lorenz Meier
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fe4ea6dd63
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c1bd0d5733
2 changed files with 4 additions and 10 deletions
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  1. 7
      msg/fw_virtual_attitude_setpoint.msg
  2. 7
      msg/mc_virtual_attitude_setpoint.msg

7
msg/fw_virtual_attitude_setpoint.msg
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@ -15,14 +15,9 @@ float32 yaw_body # body angle in NED frame @@ -15,14 +15,9 @@ 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
float32[4] q_e # Attitude error in quaternion
bool q_e_valid # Set to true if quaternion error vector is valid
float32 thrust # Thrust in Newton the power system should generate
@ -35,5 +30,7 @@ bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane m @@ -35,5 +30,7 @@ bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane m
bool apply_flaps
float32 landing_gear
# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS fw_virtual_attitude_setpoint

7
msg/mc_virtual_attitude_setpoint.msg
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@ -15,14 +15,9 @@ float32 yaw_body # body angle in NED frame @@ -15,14 +15,9 @@ 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
float32[4] q_e # Attitude error in quaternion
bool q_e_valid # Set to true if quaternion error vector is valid
float32 thrust # Thrust in Newton the power system should generate
@ -35,5 +30,7 @@ bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane m @@ -35,5 +30,7 @@ bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane m
bool apply_flaps
float32 landing_gear
# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS mc_virtual_attitude_setpoint

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