PX4-Autopilot/docs/en/msg_docs/VehicleAttitudeSetpoint.md

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VehicleAttitudeSetpoint (UORB message)

TOPICS: vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
yaw_sp_move_rate	float32			rad/s (commanded by user)
q_d	float32[4]			Desired quaternion for quaternion control
thrust_body	float32[3]			Normalized thrust command in body FRD frame [-1,1]

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	1

Source Message

Source file (GitHub)

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uint32 MESSAGE_VERSION = 1

uint64 timestamp		# time since system start (microseconds)

float32 yaw_sp_move_rate	# rad/s (commanded by user)

# For quaternion-based attitude control
float32[4] q_d			# Desired quaternion for quaternion control

# 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 FRD frame [-1,1]

# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint

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