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pageClass: is-wide-page
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# VehicleTorqueSetpoint (UORB message)

**TOPICS:** vehicle_torque_setpoint vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc

## Fields

| Name             | Type         | Unit [Frame] | Range/Enum | Description                                                                |
| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- |
| timestamp        | `uint64`     |              |            | time since system start (microseconds)                                     |
| timestamp_sample | `uint64`     |              |            | timestamp of the data sample on which this message is based (microseconds) |
| xyz              | `float32[3]` |              |            | torque setpoint about X, Y, Z body axis (normalized)                       |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg)

::: details Click here to see original file

```c
uint64 timestamp        # time since system start (microseconds)
uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)

float32[3] xyz          # torque setpoint about X, Y, Z body axis (normalized)

# TOPICS vehicle_torque_setpoint
# TOPICS vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc
```

:::