mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2025-12-12 18:16:06 +08:00
eb72925045
* Failsafe metadata update * docs: update module reference metadata * docs: update parameter reference metadata * docs: metadata: update uORB graph JSONs * uorb message metadata updates * Add new uorb topics to sidebar * Remove uorb topics that no longer exist * fix up resulting docs links --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>
797 B
797 B
VehicleAttitudeSetpoint (UORB message)
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