Fill in thrust field correctly for offboard rates setpoints on fixed wing #12311
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Jaeyoung-Lim
changed the title
dagar
approved these changes
Jun 20, 2019
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Describe problem solved by the proposed pull request
This is a follow up PR of #12149 which enables body rate setpoints in offboard mode for fixed wing. Previously body rate setpoints were not properly supported as the thrust field was assumed to be always in the z direction as in multicopters. I believe being able to control bodyrates of a fixed wing drone can lead to exciting robotic applications for fixed wing systems.
Test data / coverage
This is the log of sending body rate setpoints in offboard mode on a fixed wing in SITL: https://review.px4.io/plot_app?log=dfd84960-01fa-4f69-b452-8f3b34c6891c
Describe your preferred solution
Apply the fix from #12149 for rate setpoints