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simple_offboard: yaw_rate, pitch_rate, roll_rate in get_telemetry

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This commit is contained in:
Oleg Kalachev
2018-05-09 19:50:18 +03:00
parent 84aef97e37
commit 9cd9babb83
1 changed files with 4 additions and 1 deletions
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5
clever/src/simple_offboard.py
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@@ -383,7 +383,10 @@ def get_telemetry(req):
res['vx'] = linear.vector.x
res['vy'] = linear.vector.y
res['vz'] = linear.vector.z
# TODO pitch_rate, roll_rate, yaw_rate
res['yaw_rate'] = velocity.twist.angular.z
res['pitch_rate'] = velocity.twist.angular.y
res['roll_rate'] = velocity.twist.angular.x
if global_position and stamp - global_position.header.stamp < rospy.Duration(5):
res['lat'] = global_position.latitude