diff options
| -rw-r--r-- | CMakeLists.txt | 4 | ||||
| -rw-r--r-- | msg/px4_msgs/vehicle_attitude.msg | 18 |
2 files changed, 21 insertions, 1 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 610284abe..636cc07e3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -47,7 +47,9 @@ find_package(catkin REQUIRED COMPONENTS ## Generate messages in the 'msg' folder add_message_files( FILES - rc_channels.msg + px4_msgs/rc_channels.msg + px4_msgs/vehicle_attitude.msg + px4_msgs/rc_channels.msg ) ## Generate services in the 'srv' folder diff --git a/msg/px4_msgs/vehicle_attitude.msg b/msg/px4_msgs/vehicle_attitude.msg new file mode 100644 index 000000000..98018a1df --- /dev/null +++ b/msg/px4_msgs/vehicle_attitude.msg @@ -0,0 +1,18 @@ +# This is similar to the mavlink message ATTITUDE, but for onboard use */ +uint64 timestamp # in microseconds since system start +# @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional +float32 roll # Roll angle (rad, Tait-Bryan, NED) +float32 pitch # Pitch angle (rad, Tait-Bryan, NED) +float32 yaw # Yaw angle (rad, Tait-Bryan, NED) +float32 rollspeed # Roll angular speed (rad/s, Tait-Bryan, NED) +float32 pitchspeed # Pitch angular speed (rad/s, Tait-Bryan, NED) +float32 yawspeed # Yaw angular speed (rad/s, Tait-Bryan, NED) +float32 rollacc # Roll angular accelration (rad/s, Tait-Bryan, NED) +float32 pitchacc # Pitch angular acceleration (rad/s, Tait-Bryan, NED) +float32 yawacc # Yaw angular acceleration (rad/s, Tait-Bryan, NED) +float32[3] rate_offsets # Offsets of the body angular rates from zero +float32[9] R # Rotation matrix, body to world, (Tait-Bryan, NED) +float32[4] q # Quaternion (NED) +float32[3] g_comp # Compensated gravity vector +bool R_valid # Rotation matrix valid +bool q_valid # Quaternion valid |