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9ee8fa21cd
- .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
10 lines
503 B
Plaintext
10 lines
503 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 roll # body angular rates in NED frame
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float32 pitch # body angular rates in NED frame
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float32 yaw # body angular rates in NED frame
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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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