move vehicle_attitude_setpoint to msg format

1 files changed, 21 insertions, 0 deletions

diff --git a/msg/px4_msgs/vehicle_attitude_setpoint.msg b/msg/px4_msgs/vehicle_attitude_setpoint.msg
new file mode 100644
index 000000000..1a8e6e3d5
--- /dev/null
+++ b/msg/px4_msgs/vehicle_attitude_setpoint.msg
@@ -0,0 +1,21 @@
+
+uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
+
+float32 roll_body				# body angle in NED frame
+float32 pitch_body				# body angle in NED frame
+float32 yaw_body					# body angle in NED frame
+
+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
+
+bool roll_reset_integral			# Reset roll integral part (navigation logic change)
+bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
+bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)