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# VehicleRatesSetpoint (UORB message)

**TOPICS:** vehicle_rates_setpoint

## Fields

| Name           | Type         | Unit [Frame] | Range/Enum | Description                                              |
| -------------- | ------------ | ------------ | ---------- | -------------------------------------------------------- |
| timestamp      | `uint64`     |              |            | time since system start (microseconds)                   |
| roll           | `float32`    | rad/s        |            | roll rate setpoint                                       |
| pitch          | `float32`    | rad/s        |            | pitch rate setpoint                                      |
| yaw            | `float32`    | rad/s        |            | yaw rate setpoint                                        |
| thrust_body    | `float32[3]` |              |            | Normalized thrust command in body NED frame [-1,1]       |
| reset_integral | `bool`       |              |            | Reset roll/pitch/yaw integrals (navigation logic change) |

## Constants

| Name                                          | Type     | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)

::: details Click here to see original file

```c
uint32 MESSAGE_VERSION = 0

uint64 timestamp	# time since system start (microseconds)

# body angular rates in FRD frame
float32 roll		# [rad/s] roll rate setpoint
float32 pitch		# [rad/s] pitch rate setpoint
float32 yaw		# [rad/s] yaw rate setpoint

# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body	# Normalized thrust command in body NED frame [-1,1]

bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
```

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