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VehicleAttitudeSetpoint.msg: remove reset_integral and fw_control_yaw_wheel

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-04-16 13:09:09 +02:00
committed by Silvan Fuhrer
parent 0276f66b18
commit 3e3f10f5bc
11 changed files with 90 additions and 136 deletions
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msg/translation_node/translations/all_translations.h
+1
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@@ -12,3 +12,4 @@
#include "translation_vehicle_status_v1.h"
#include "translation_airspeed_validated_v1.h"
#include "translation_vehicle_attitude_setpoint_v1.h"
msg/translation_node/translations/translation_vehicle_attitude_setpoint_v1.h
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@@ -0,0 +1,53 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate VehicleAttitudeSetpoint v0 <--> v1
#include <px4_msgs_old/msg/vehicle_attitude_setpoint_v0.hpp>
#include <px4_msgs/msg/vehicle_attitude_setpoint.hpp>
class VehicleAttitudeSetpointV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::VehicleAttitudeSetpointV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::VehicleAttitudeSetpoint;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/in/vehicle_attitude_setpoint";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
// Set msg_newer from msg_older
msg_newer.timestamp = msg_older.timestamp;
msg_newer.yaw_sp_move_rate = msg_older.yaw_sp_move_rate;
msg_newer.q_d[0] = msg_older.q_d[0];
msg_newer.q_d[1] = msg_older.q_d[1];
msg_newer.q_d[2] = msg_older.q_d[2];
msg_newer.q_d[3] = msg_older.q_d[3];
msg_newer.thrust_body[0] = msg_older.thrust_body[0];
msg_newer.thrust_body[1] = msg_older.thrust_body[1];
msg_newer.thrust_body[2] = msg_older.thrust_body[2];
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
// Set msg_older from msg_newer
msg_older.timestamp = msg_newer.timestamp;
msg_older.yaw_sp_move_rate = msg_newer.yaw_sp_move_rate;
msg_older.q_d[0] = msg_newer.q_d[0];
msg_older.q_d[1] = msg_newer.q_d[1];
msg_older.q_d[2] = msg_newer.q_d[2];
msg_older.q_d[3] = msg_newer.q_d[3];
msg_older.thrust_body[0] = msg_newer.thrust_body[0];
msg_older.thrust_body[1] = msg_newer.thrust_body[1];
msg_older.thrust_body[2] = msg_newer.thrust_body[2];
msg_older.reset_integral = false;
msg_older.fw_control_yaw_wheel = false;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleAttitudeSetpointV1Translation);