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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-11 19:45:32 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-11 19:45:32 +0200 |
| commit | 18c6c620c048abba7cbd2530f80ea6d0207704b1 (patch) | |
| tree | 9f8521489700a7de49c09f11ce297433730ebdef /apps/uORB/topics/vehicle_attitude_setpoint.h | |
| parent | 4eef4e186437c6b923df7b9dcffdc3723c411560 (diff) | |
| download | px4-firmware-18c6c620c048abba7cbd2530f80ea6d0207704b1.tar.gz px4-firmware-18c6c620c048abba7cbd2530f80ea6d0207704b1.tar.bz2 px4-firmware-18c6c620c048abba7cbd2530f80ea6d0207704b1.zip | |
Added manual control abstraction layer, reworked sensors and ardrone_control apps to use it instead of direct RC channels
Diffstat (limited to 'apps/uORB/topics/vehicle_attitude_setpoint.h')
| -rw-r--r-- | apps/uORB/topics/vehicle_attitude_setpoint.h | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h index 6b3757402..6a1908007 100644 --- a/apps/uORB/topics/vehicle_attitude_setpoint.h +++ b/apps/uORB/topics/vehicle_attitude_setpoint.h @@ -61,8 +61,14 @@ struct vehicle_attitude_setpoint_s float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */ float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */ + float roll_body; /**< body angle in NED frame */ + float pitch_body; /**< body angle in NED frame */ + float yaw_body; /**< body angle in NED frame */ + float body_valid; /**< Set to true if Tait-Bryan angles are valid */ + float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ bool R_valid; /**< Set to true if rotation matrix is valid */ + float thrust; /**< Thrust in Newton the power system should generate */ }; |