ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters #13249
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jlecoeur
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This was referenced Oct 24, 2019
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I rebased to master (mavlink has been updated elsewhere) |
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This is a follow up for the MAVLink update mavlink/mavlink#1247.
A new field
repr_offset_qwas added to the message ATTITUDE_QUATERNION to indicate that the attitude have to be rotated before it is displayed to the user.This is useful for example for tailsitters, which rotate their reference frame by 90 between hover mode and fixed wing mode. This leads to discontinuities in the euler representation (see screenshots in the MAVLink PR).
With this new field, a correct attitude can be displayed in QGC in both modes.
fixes #10405
partially fixes #9179