I am currently using LQR controller, that is controlling each axis independently. All my calculations are with respect to local frame (the origin in gazebo simulation). Then I am rotating the control inputs around z axis with angle yaw derived dron quaternion of drone in local frame. Then I am computing these control inputs to the angle, that I want my drone to tilt around (roll, pitch). What transformations should I do before publishing desired roll and pitch and yaw into the topic /mavros/setpoint_raw/attittude? I believe that all my calculations are using standard ENU format of frames. But I read that the MAVROS topic is using NED.
Could someone provide me a clear explanation?
I can also provide my controller ros2 node if that would be helpful.