载具推力设定点（UORB 消息）

Vehicle thrust setpoint.

This is the thrust setpoint provided by the controller and fed into the control allocator.

TOPICS: vehicle_thrust_setpoint vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Timestamp of the data sample on which this message is based
xyz	float32[3]		[-1 : 1]	Thrust setpoint along X, Y, Z body axis. If set to NAN the motors affecting this axis are stopped.

Source Message

Source file (GitHub)

Details

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# Vehicle thrust setpoint
#
# This is the thrust setpoint provided by the controller and fed into the control allocator.

uint64 timestamp        # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the data sample on which this message is based

float32[3] xyz          # [-] [@range -1, 1] Thrust setpoint along X, Y, Z body axis. If set to NAN the motors affecting this axis are stopped.

# TOPICS vehicle_thrust_setpoint
# TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc