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add calculation of base_q into message setpoint

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Sem van der Hoeven
2023-05-04 14:25:29 +02:00
parent 5ab0a39ee3
commit 97a72d5a4a
1 changed files with 4 additions and 4 deletions
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8
src/px4_connection/src/px4_controller.cpp
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@@ -209,10 +209,10 @@ private:
// } // }
// set quaternion // set quaternion
msg.q_d[0] = q.at(0); msg.q_d[0] = base_q[0] + q.at(0);
msg.q_d[1] = q.at(1); msg.q_d[1] = base_q[1] + q.at(1);
msg.q_d[2] = q.at(2); msg.q_d[2] = base_q[2] + q.at(2);
msg.q_d[3] = q.at(3); msg.q_d[3] = base_q[3] + q.at(3);
msg.yaw_sp_move_rate = 0; msg.yaw_sp_move_rate = 0;
msg.reset_integral = false; msg.reset_integral = false;