# vehicle_attitude_setpoint (UORB message)

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uint64 timestamp        # time since system start (microseconds)

float32 roll_body       # body angle in NED frame (can be NaN for FW)
float32 pitch_body      # body angle in NED frame (can be NaN for FW)
float32 yaw_body        # body angle in NED frame (can be NaN for FW)

float32 yaw_sp_move_rate    # rad/s (commanded by user)

# For quaternion-based attitude control
float32[4] q_d          # Desired quaternion for quaternion control

# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body      # Normalized thrust command in body NED frame [-1,1]

bool reset_rate_integrals   # Reset roll/pitch/yaw integrals (navigation logic change)

bool fw_control_yaw     # control heading with rudder (used for auto takeoff on runway)

uint8 apply_flaps           # flap config specifier
uint8 FLAPS_OFF = 0         # no flaps
uint8 FLAPS_LAND = 1        # landing config flaps
uint8 FLAPS_TAKEOFF = 2     # take-off config flaps

uint8 apply_spoilers        # spoiler config specifier
uint8 SPOILERS_OFF = 0      # no spoilers
uint8 SPOILERS_LAND = 1     # landing config spoiler
uint8 SPOILERS_DESCEND = 2  # descend config spoiler

# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint