Vehicleratessetpoint

VehicleRatesSetpoint (UORB message)

source file

```c uint64 timestamp # time since system start (microseconds)

body angular rates in FRD frame

float32 roll # [rad/s] roll rate setpoint float32 pitch # [rad/s] pitch rate setpoint float32 yaw # [rad/s] yaw rate setpoint

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_integral # Reset roll/pitch/yaw integrals (navigation logic change)

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