struct AttitudeCommandData
fbs/control.fbs / Source schema
Attitude setpoint with optional angular-rate and thrust feed-forward.
FlatBuffers root table: AttitudeCommand
| Name | Type | Unit / Scale | Notes |
|---|---|---|---|
timestamp_us | ulong | microseconds | Command timestamp in monotonic boot time. |
attitude | synapse.types.Quaternionf | Desired orientation rotating body FLU vectors into the ENU world frame. | |
body_rate_flu_rad_s | synapse.types.RateTriplet | FLU body frame (x forward, y left, z up), radians per second | Body-rate feed-forward in the FLU frame. |
thrust | float | Normalized collective thrust command over 0 to 1, or -1 to 1 for reverse-capable vehicles. | |
type_mask | ubyte | bitmask | Bitmask of AttitudeCommandMask bits for ignored fields. |