Hi, I’m making my own code and trying to add some kind of safeguard which is if angular velocity and pitch roll angle of a drone is higher than some specific velocity and angle than stops motors.
I found angular velocity is obtained by get_gyro_latest(); but I can’t find which unit is used.
Is it expressed in rad/s? If i want to stop motors if its angular velocity is higher than 1rad/s for instance,
what would be the correct value in c++ ardupilot code?
And also how could I get current roll, pitch angle and would it be expressed in degree? or rad?
Thank you.