added missing orientation to the imu data

ctu-mrs · Jun 14, 2024 · febe80d · febe80d
1 parent 5390e1a
commit febe80d
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/uav_system_ros.cpp b/src/uav_system_ros.cpp
@@ -387,6 +387,8 @@ void UavSystemRos::publishIMU(const MultirotorModel::State &state) {
   imu.linear_acceleration.y = acc(1);
   imu.linear_acceleration.z = acc(2);
 
+  imu.orientation = mrs_lib::AttitudeConverter(state.R);
+
   ph_imu_.publish(imu);
 }