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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-20 15:19:22 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-20 15:19:51 +0100 |
| commit | 6ff4520904daef1fa441fd467f048c42d286f2ac (patch) | |
| tree | cc2f3f58bab0627354801f973da0690a2d8f81cc /apps/uORB/topics/vehicle_attitude_setpoint.h | |
| parent | 129e6d73debca5653911867e9db54990c02591bb (diff) | |
| download | px4-firmware-6ff4520904daef1fa441fd467f048c42d286f2ac.tar.gz px4-firmware-6ff4520904daef1fa441fd467f048c42d286f2ac.tar.bz2 px4-firmware-6ff4520904daef1fa441fd467f048c42d286f2ac.zip | |
Cleaned up PI wrapping code, still subject to testing
Diffstat (limited to 'apps/uORB/topics/vehicle_attitude_setpoint.h')
| -rw-r--r-- | apps/uORB/topics/vehicle_attitude_setpoint.h | 9 |
1 files changed, 2 insertions, 7 deletions
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h index 8663846fc..a7cda34a8 100644 --- a/apps/uORB/topics/vehicle_attitude_setpoint.h +++ b/apps/uORB/topics/vehicle_attitude_setpoint.h @@ -56,18 +56,13 @@ struct vehicle_attitude_setpoint_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */ - float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */ - 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 body 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 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 */ |