diff options
Diffstat (limited to 'src/modules/uORB/topics/vehicle_attitude.h')
| -rwxr-xr-x | src/modules/uORB/topics/vehicle_attitude.h | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h index 40328af14..77324415a 100755 --- a/src/modules/uORB/topics/vehicle_attitude.h +++ b/src/modules/uORB/topics/vehicle_attitude.h @@ -80,6 +80,23 @@ struct vehicle_attitude_s { bool R_valid; /**< Rotation matrix valid */ bool q_valid; /**< Quaternion valid */ + // secondary attitude, use for VTOL + float roll_sec; /**< Roll angle (rad, Tait-Bryan, NED) */ + float pitch_sec; /**< Pitch angle (rad, Tait-Bryan, NED) */ + float yaw_sec; /**< Yaw angle (rad, Tait-Bryan, NED) */ + float rollspeed_sec; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */ + float pitchspeed_sec; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */ + float yawspeed_sec; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */ + float rollacc_sec; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */ + float pitchacc_sec; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */ + float yawacc_sec; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */ + float rate_offsets_sec[3]; /**< Offsets of the body angular rates from zero */ + float R_sec[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ + float q_sec[4]; /**< Quaternion (NED) */ + float g_comp_sec[3]; /**< Compensated gravity vector */ + bool R_valid_sec; /**< Rotation matrix valid */ + bool q_valid_sec; /**< Quaternion valid */ + }; /** |