px4-firmware/msg/vehicle_attitude_setpoint.msg

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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