Correct MAVLINK_MSG_ID_SET_ATTITUDE_TARGET anglular rate input frame #24568
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I would love to get a quick explanation of the change to const Vector3f &ang_vel_body |
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This PR fixes a problem where the angular rate inputs to MAVLINK_MSG_ID_SET_ATTITUDE_TARGET were not in the body frame if both attitude and rate are specified. It also checks to make sure each of the three rotation rate axis are specified.
This fixes the bug where when only rates are specified they are in body frame but when using quaternion attitude and rates the rates were in earth frame.
The message clearly specifies the rates are in body frame.