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HOME_POSITION - quaternion can have an invalid value #1843

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merged 4 commits into from
May 25, 2023
Merged

HOME_POSITION - quaternion can have an invalid value #1843

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HOME_POSITION - quaternion can have an invalid value
hamishwillee May 11, 2022
f8357a3
Update message_definitions/v1.0/common.xml
hamishwillee May 25, 2022
6afe7d0
Merge branch 'master' into hamishwillee-patch-6
hamishwillee May 25, 2023
6574bb7
Update message_definitions/v1.0/common.xml
hamishwillee May 25, 2023
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6 changes: 5 additions & 1 deletion message_definitions/v1.0/common.xml
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Expand Up @@ -6415,7 +6415,11 @@
<field type="float" name="x" units="m">Local X position of this position in the local coordinate frame</field>
<field type="float" name="y" units="m">Local Y position of this position in the local coordinate frame</field>
<field type="float" name="z" units="m">Local Z position of this position in the local coordinate frame</field>
<field type="float[4]" name="q">World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground</field>
<field type="float[4]" name="q">
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Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
Used to indicate the heading and slope of the ground.
All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
</field>
<field type="float" name="approach_x" units="m">Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
<field type="float" name="approach_y" units="m">Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
<field type="float" name="approach_z" units="m">Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
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