From febe80d501a0afb4148cf09f0f365b61b083a283 Mon Sep 17 00:00:00 2001 From: tomas Date: Fri, 14 Jun 2024 12:45:15 +0200 Subject: [PATCH] added missing orientation to the imu data --- src/uav_system_ros.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/uav_system_ros.cpp b/src/uav_system_ros.cpp index f5795af..a248c01 100644 --- 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); }