mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-08-01 20:27:57 +08:00
43 lines
2.6 KiB
Markdown
43 lines
2.6 KiB
Markdown
---
|
||
pageClass: is-wide-page
|
||
---
|
||
|
||
# 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 |
|
||
| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------- |
|
||
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
|
||
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the data sample on which this message is based |
|
||
| <a id="fld_xyz"></a>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)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg)
|
||
|
||
:::details
|
||
Click here to see original file
|
||
|
||
```c
|
||
# 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
|
||
```
|
||
|
||
:::
|