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https://github.com/PX4/PX4-Autopilot.git
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42 lines
2.0 KiB
Markdown
42 lines
2.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleThrustSetpoint (UORB message)
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Vehicle thrust setpoint.
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This is the thrust setpoint provided by the controller and fed into the control allocator.
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**TOPICS:** vehicle_thrust_setpoint vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc
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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` | us | | Time since system start |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the data sample on which this message is based |
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| <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. |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg)
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::: details Click here to see original file
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```c
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# Vehicle thrust setpoint
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#
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# This is the thrust setpoint provided by the controller and fed into the control allocator.
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the data sample on which this message is based
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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.
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# TOPICS vehicle_thrust_setpoint
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# TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc
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```
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:::
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