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12 lines
609 B
Plaintext
12 lines
609 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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# body angular rates in NED frame
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float32 roll # [rad/s] roll rate setpoint
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float32 pitch # [rad/s] pitch rate setpoint
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float32 yaw # [rad/s] yaw rate setpoint
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# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
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# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
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float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
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