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* Failsafe metadata update * docs: update module reference metadata * docs: update parameter reference metadata * docs: metadata: update uORB graph JSONs * uorb message metadata updates * Add new uorb topics to sidebar * Remove uorb topics that no longer exist * fix up resulting docs links --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>
24 lines
797 B
Markdown
24 lines
797 B
Markdown
# VehicleAttitudeSetpoint (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
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```c
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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float32 yaw_sp_move_rate # rad/s (commanded by user)
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# For quaternion-based attitude control
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float32[4] q_d # Desired quaternion for quaternion control
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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 FRD frame [-1,1]
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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```
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