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45 lines
1.6 KiB
Markdown
45 lines
1.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# OffboardControlMode (UORB message)
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Off-board control mode.
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**TOPICS:** offboard_control_mode
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_position"></a>position | `bool` | | |
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| <a id="fld_velocity"></a>velocity | `bool` | | |
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| <a id="fld_acceleration"></a>acceleration | `bool` | | |
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| <a id="fld_attitude"></a>attitude | `bool` | | |
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| <a id="fld_body_rate"></a>body_rate | `bool` | | |
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| <a id="fld_thrust_and_torque"></a>thrust_and_torque | `bool` | | |
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| <a id="fld_direct_actuator"></a>direct_actuator | `bool` | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OffboardControlMode.msg)
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::: details Click here to see original file
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```c
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# Off-board control mode
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uint64 timestamp # time since system start (microseconds)
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bool position
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bool velocity
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bool acceleration
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bool attitude
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bool body_rate
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bool thrust_and_torque
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bool direct_actuator
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```
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:::
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