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51 lines
2.9 KiB
Markdown
51 lines
2.9 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleRatesSetpoint (UORB message)
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**TOPICS:** vehicle_rates_setpoint
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ----------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| roll | `float32` | rad/s | | roll rate setpoint |
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| pitch | `float32` | rad/s | | pitch rate setpoint |
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| yaw | `float32` | rad/s | | yaw rate setpoint |
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| thrust_body | `float32[3]` | | | Normalized thrust command in body NED frame [-1,1] |
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| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| ------------------------------------------------------------------ | -------- | - | -- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
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:::details
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Click here to see original file
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```c
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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# body angular rates in FRD 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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bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
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```
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:::
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