# vehicle_rates_setpoint (UORB message)

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uint64 timestamp    # time since system start (microseconds)

# body angular rates in NED frame
float32 roll        # [rad/s] roll rate setpoint
float32 pitch       # [rad/s] pitch rate setpoint
float32 yaw     # [rad/s] yaw rate setpoint

# 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]