Merge branch 'master' into python3_compat

1 files changed, 6 insertions, 0 deletions

diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
index a7cda34a8..686fd765c 100644
--- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
@@ -64,6 +64,12 @@ struct vehicle_attitude_setpoint_s
 	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 */
 
+	//! For quaternion-based attitude control
+	float q_d[4];				/** Desired quaternion for quaternion control */
+	bool q_d_valid;					/**< Set to true if quaternion vector is valid */
+	float q_e[4];				/** Attitude error in quaternion */
+	bool q_e_valid;					/**< Set to true if quaternion error vector is valid */
+
 	float thrust;					/**< Thrust in Newton the power system should generate */
 
 };