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Co-Authored-By: PX4 BuildBot <bot@px4.io>
2026-10-03 14:38:52 +08:00 · 2026-02-11 22:43:01 +00:00
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+---
+pageClass: is-wide-page
+---
+
+# RaptorInput (UORB message)
+
+Raptor Input.
+
+**TOPICS:** raptor_input
+
+## Fields
+
+| Name             | Type         | Unit [Frame] | Range/Enum | Description                                                                                              |
+| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- |
+| timestamp        | `uint64`     | us           |            | Time since system start                                                                                  |
+| timestamp_sample | `uint64`     | us           |            | Sampling timestamp of the data this control response is based on                                         |
+| active           | `bool`       |              |            | Signals if the policy is active (aka publishing actuator_motors)                                         |
+| position         | `float32[3]` | m [FLU]      |            | Position of the vehicle_local_position frame                                                             |
+| orientation      | `float32[4]` |              |            | Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z) |
+| linear_velocity  | `float32[3]` | m/s [FLU]    |            | Linear velocity in the vehicle_local_position frame                                                      |
+| angular_velocity | `float32[3]` | rad/s [FLU]  |            | Angular velocity in the body frame                                                                       |
+| previous_action  | `float32[4]` |              | [-1 : 1]   | Previous action. Motor commands normalized to [-1, 1]                                                    |
+
+## Constants
+
+| Name                                            | Type     | Value | Description                                   |
+| ----------------------------------------------- | -------- | ----- | --------------------------------------------- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |
+| <a href="#ACTION_DIM"></a> ACTION_DIM           | `uint8`  | 4     | Policy output dimensionality (for quadrotors) |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RaptorInput.msg)
+
+::: details Click here to see original file
+
+```c
+# Raptor Input
+
+# The exact inputs to the Raptor foundation policy.
+# Having access to the exact inputs helps with debugging and post-hoc analysis.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+bool active # Signals if the policy is active (aka publishing actuator_motors)
+float32[3] position # [m] [@frame FLU] Position of the vehicle_local_position frame
+float32[4] orientation # [-] Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z)
+float32[3] linear_velocity # [m/s] [@frame FLU] Linear velocity in the vehicle_local_position frame
+float32[3] angular_velocity # [rad/s]  [@frame FLU] Angular velocity in the body frame
+uint8 ACTION_DIM = 4 # Policy output dimensionality (for quadrotors)
+float32[4] previous_action # [@range -1, 1] Previous action. Motor commands normalized to [-1, 1]
+
+# TOPICS raptor_input
+```
+
+:::