Hi, i am trying to give a heading command to my fixed wing in ROS/Gazebo. When i use the following message:
rostopic pub -r 5 /mavros/setpoint_raw/attitude mavros_msgs/AttitudeTarget “header:
seq: 0
stamp: {secs: 0, nsecs: 0}
frame_id: ‘’
type_mask: 0b10000000
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}
body_rate: {x: 0.1, y: 0.0, z: -0.1}
thrust: 0.5”
the airplane starts to turn but does not execute a loiter, it performs a 180º turn.
Also, when i put the body_rate z = 0,1 it starts to turn right, and when i change it to z=-0,1 it also turns right.
I do not understand why,
i put the type_mask 0b10000000 to ignore orientation.
I have some doubts in the quaternion orientation coordenates, how can i controll the attitude by using those coordenates?
If someone could help me i would appreciate it
cheers