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docs/en/msg_docs/VehicleAttitudeSetpoint.md
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@@ -1,8 +1,31 @@
---
pageClass: is-wide-page
---
# VehicleAttitudeSetpoint (UORB message)
**TOPICS:** vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
| 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 |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
::: details Click here to see original file
```c
uint32 MESSAGE_VERSION = 1
@@ -19,5 +42,6 @@ float32[4] q_d # Desired quaternion for quaternion control
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
```
:::