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54 lines
2.5 KiB
Markdown
54 lines
2.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleAttitudeSetpointV0 (UORB message)
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**TOPICS:** vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| -------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) |
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| q_d | `float32[4]` | | | Desired quaternion for quaternion control |
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| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] |
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| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) |
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| fw_control_yaw_wheel | `bool` | | | control heading with steering wheel (used for auto takeoff on runway) |
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## Constants
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| Name | Type | Value | Description |
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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/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg)
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::: details 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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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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bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
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bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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```
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:::
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