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feat(fw_att_control): Add Initial Quat Controller + Debug topic

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This commit introduces a new control mode for fixed-wing aircraft that
utilizes Euler angles for attitude control.
Additionally, a new logged topic has been added to facilitate debugging and
monitoring of the Euler rates setpoints during flight.
This commit is contained in:
ttechnick
2026-01-13 15:28:31 +01:00
committed by Nick
parent 9136c66b7e
commit e370b3f4b8
5 changed files with 109 additions and 8 deletions
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1
msg/CMakeLists.txt
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@@ -276,6 +276,7 @@ set(msg_files
versioned/VehicleLocalPosition.msg
versioned/VehicleOdometry.msg
versioned/VehicleRatesSetpoint.msg
versioned/VehicleEulerRatesSetpoint.msg
versioned/VehicleStatus.msg
versioned/VtolVehicleStatus.msg
versioned/Wind.msg

5
msg/versioned/VehicleEulerRatesSetpoint.msg Normal file
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@@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
float32 roll_rate # body frame roll rate setpoint (rad/s)
float32 pitch_rate # body frame pitch rate setpoint (rad/s)
float32 yaw_rate # body frame yaw rate setpoint (rad/s)