PX4 Write Thrust & Torque Setpoint

Publish the thrust and torque setpoints to uORB topics

Since R2025a

Add-On Required: This feature requires the UAV Toolbox Support Package for PX4 Autopilots add-on.

Libraries:
UAV Toolbox Support Package for PX4 Autopilots / PX4 Utility Blocks

Description

The block writes motor and servo actuator values by directly publishing thrust and torque setpoints to the vehicle_thrust_setpoint and vehicle_torque_setpoint uORB topics. This block accepts two inputs, thrust and torque, each as a 1-by-3 vector. The thrust setpoint is along, and the torque setpoint is about, the x-, y-, and z- body axes. Both inputs are normalized to the range [-1,1] in the vehicle body FRD frame.

Examples

Actuator Control Using Write Thrust & Torque Blocks for PX4 Autopilots

Use the PX4 Write Thrust & Torque block to command the actuators.

Open Model

Ports

Input

expand all

Thrust — Thrust setpoint
vector

Specify the desired thrust setpoint along x-, y-, and z-axes of the vehicle body. The specified inputs are normalized to the range [-1,1] in the vehicle body FRD frame.

Data Types: single

Torque — Torque setpoint
vector

Specify the desired torque setpoint about the x-, y-, and z-axes of the vehicle body. The specified inputs are normalized to the range [-1,1] in the vehicle body FRD frame.