• pedro-roque's avatar
    mc_att_ctrl: added yawrate control from offboard. · a707403e
    pedro-roque authored
    This commit adds Roll Pitch Yawrate Thrust (RPYrT) setpoint control to the
    PX4 stack, enabling the UAV to follow specific yawrates sent from
    offboard. It also introduces individual body_rate flags, along the
    lines of mavros.
    Tested on a MoCap enabled flight arena in KTH Royal Institute of
    Technology, Stockholm. The MAV receives RPYrT setpoints from an
    external PID controller to stabilize around position setpoints.
    The UAV is also externally disturbed to assess the stability to
    external unmodeled events.
    Fixed Kabir comments.
    Removed deprecated ignore_bodyrate.
    Fixed integration test.