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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-21 16:24:00 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-21 16:24:00 +0200 |
| commit | 1e7dee439111f58fa9c0f737b93132a57dbf644d (patch) | |
| tree | 0d3c44be9f080dd716d02f4473ffc2191a3c8ffb /src/modules/mavlink | |
| parent | 3a0bb9c64b933a102f75d64d03de7ad0f6df4308 (diff) | |
| download | px4-firmware-1e7dee439111f58fa9c0f737b93132a57dbf644d.tar.gz px4-firmware-1e7dee439111f58fa9c0f737b93132a57dbf644d.tar.bz2 px4-firmware-1e7dee439111f58fa9c0f737b93132a57dbf644d.zip | |
set_attitude_target msg: convert quaternion to R
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index da594412e..60fc2937a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -689,9 +689,11 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) att_sp.timestamp = hrt_absolute_time(); mavlink_quaternion_to_euler(set_attitude_target.q, &att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body); + mavlink_quaternion_to_dcm(set_attitude_target.q, att_sp.R_body); + att_sp.R_valid = true; att_sp.thrust = set_attitude_target.thrust; - att_sp.q_d_valid = true; memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d)); + att_sp.q_d_valid = true; if (_att_sp_pub < 0) { _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); } else { |