I’m looking at controlling a multicopter from an onboard computer in a style similar to Manual/Stabilized mode. (i.e Roll and Pitch angles, Yaw rate, Thrust).
I’ve looked at using the SET_ATTITUDE_TARGET mavlink message, but there doesn’t appear to be a way to ignore the yaw angle supplied by the quaternion.
I’ve tried sending a message similar to the message defined in the MAVROS yawrate test.
i.e to yaw continuously while level:
ROLL = 0
PITCH = 0
YAW = 0
YAW_RATE = 0.5
TYPE_MASK = 3 (Ignore roll rate and pitch rate)
THRUST = 0.6
This results in the vehicle turning to face north (YAW = 0).
Is there a way to get the attitude controller to ignore the yaw angle component if the yaw rate component is supplied or will I have to constantly update the yaw angle to lead the current yaw?