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24 lines
783 B
Markdown
24 lines
783 B
Markdown
# VehicleRatesSetpoint (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
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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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