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35 lines
1.7 KiB
Markdown
35 lines
1.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleTorqueSetpoint (UORB message)
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**TOPICS:** vehicle_torque_setpoint vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc
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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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| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) |
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| xyz | `float32[3]` | | | torque setpoint about X, Y, Z body axis (normalized) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.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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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
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float32[3] xyz # torque setpoint about X, Y, Z body axis (normalized)
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# TOPICS vehicle_torque_setpoint
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# TOPICS vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc
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```
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:::
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