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author | Hyon Lim (Retina) <limhyon@gmail.com> | 2013-08-31 03:22:19 +0900 |
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committer | Hyon Lim (Retina) <limhyon@gmail.com> | 2013-08-31 03:22:19 +0900 |
commit | 9f2419698ff4d0703f58e67f29f4981fa7b4f0c5 (patch) | |
tree | 4688a66bd8e95884fb9fda228fb9c997db5af140 /src/modules | |
parent | fff1856377b687bc290f4a828363de0d416b401c (diff) | |
download | px4-firmware-9f2419698ff4d0703f58e67f29f4981fa7b4f0c5.tar.gz px4-firmware-9f2419698ff4d0703f58e67f29f4981fa7b4f0c5.tar.bz2 px4-firmware-9f2419698ff4d0703f58e67f29f4981fa7b4f0c5.zip |
Topic has been changed for quaternion-based attitude controller.
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/uORB/topics/vehicle_attitude_setpoint.h | 6 |
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 */ }; |