int8 LANDING_GEAR_UP = 1 # landing gear up int8 LANDING_GEAR_DOWN = -1 # landing gear down float32 roll_body # body angle in NED frame float32 pitch_body # body angle in NED frame float32 yaw_body # body angle in NED frame float32 yaw_sp_move_rate # rad/s (commanded by user) # For quaternion-based attitude control float32[4] q_d # Desired quaternion for quaternion control bool q_d_valid # Set to true if quaternion vector is valid float32 thrust # Thrust in Newton the power system should generate bool roll_reset_integral # Reset roll integral part (navigation logic change) bool pitch_reset_integral # Reset pitch integral part (navigation logic change) bool yaw_reset_integral # Reset yaw integral part (navigation logic change) bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway) bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode) bool apply_flaps float32 landing_gear