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

**TOPICS:** vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint

## Fields

| 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 id="#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

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
```

:::