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docs/en/msg_docs/VehicleAttitudeSetpointV0.md
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@@ -1,8 +1,33 @@
---
pageClass: is-wide-page
---
# VehicleAttitudeSetpointV0 (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/px4_msgs_old/msg/VehicleAttitudeSetpointV0.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] |
| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) |
| fw_control_yaw_wheel | `bool` | | | control heading with steering wheel (used for auto takeoff on runway) |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg)
::: details Click here to see original file
```c
uint32 MESSAGE_VERSION = 0
@@ -23,5 +48,6 @@ bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
```
:::