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Diffstat (limited to 'msg/vehicle_attitude_setpoint.msg')
| -rw-r--r-- | msg/vehicle_attitude_setpoint.msg | 21 |
1 files changed, 21 insertions, 0 deletions
diff --git a/msg/vehicle_attitude_setpoint.msg b/msg/vehicle_attitude_setpoint.msg new file mode 100644 index 000000000..1a8e6e3d5 --- /dev/null +++ b/msg/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) |