From 9cd9babb83cb51fad6a9cd85cb93ab40c0c3d188 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 9 May 2018 19:50:18 +0300 Subject: [PATCH] simple_offboard: yaw_rate, pitch_rate, roll_rate in get_telemetry --- clever/src/simple_offboard.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 11a37769..11d06d24 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -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