diff options
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 { |