Struct AttitudeSetpoint 

pub struct AttitudeSetpoint {
    pub type_mask: u8,
    pub q: [f32; 4],
    pub body_roll_rate: f32,
    pub body_pitch_rate: f32,
    pub body_yaw_rate: f32,
    pub thrust: f32,
}

A single SET_ATTITUDE_TARGET payload, frame-independent.

This is a transport-agnostic data value, NOT a controller: building one and sending it is one fire-and-forget MAVLink frame. It owns no flight state, mode, or schedule — the caller owns the policy around it (the autopilot accepts these only in its attitude/offboard mode, and a command stream is a heartbeat the caller must re-send well above the decay rate). The builder validates that every field the type_mask does NOT ignore is finite, that a commanded attitude is a unit quaternion, and that a commanded thrust is within the normalized range, so a NaN / out-of-range command can never reach the wire on an active axis.

Fields

type_mask: u8

The type_mask ignore bits (ATTITUDE_TARGET_TYPEMASK_*). A set bit ignores that axis. The high bits above the defined field are rejected so a malformed mask cannot smuggle unknown semantics to the autopilot.

q: [f32; 4]

Attitude quaternion (w, x, y, z), MAVLink order; zero rotation is (1, 0, 0, 0). Meaningful only while ATTITUDE_IGNORE is clear.

body_roll_rate: f32

Body roll rate, rad/s. Ignored when BODY_ROLL_RATE_IGNORE is set.

body_pitch_rate: f32

Body pitch rate, rad/s. Ignored when BODY_PITCH_RATE_IGNORE is set.

body_yaw_rate: f32

Body yaw rate, rad/s. Ignored when BODY_YAW_RATE_IGNORE is set.

thrust: f32

Collective thrust, normalized 0..1 (-1..1 for reverse-thrust vehicles). Ignored when THROTTLE_IGNORE is set.

Implementations

impl AttitudeSetpoint

pub fn validate(&self) -> Result<(), SetpointError>

Validate the setpoint, returning the first problem found. Mirrors GuidedSetpoint::validate so an out-of-range command is refused at construction:

• the type_mask carries no bit outside the defined field, and
• every numeric field on an axis the mask does NOT ignore is finite, and
• a commanded attitude is a unit quaternion, and
• a commanded thrust is within the normalized -1..=1 range.

An ignored axis is not checked (the autopilot disregards it), so a pure body-rate command with a NaN left in the (ignored) quaternion is accepted — but a NaN or out-of-range value on an active axis is rejected.

pub fn build_message( &self, target_system: u8, target_component: u8, ) -> Result<MavMessage, SetpointError>

Validate, then build the typed MavMessage for this setpoint. The target_system / target_component address the vehicle; time_boot_ms is fixed at 0 (the autopilot does not require a monotonic stamp on an attitude setpoint; ArduPilot ignores it on the inbound path). The actual X.25 CRC is folded with ATTITUDE_TARGET_CRC_EXTRA (49) by the typed serializer, identical to what this builder’s own encoder would emit.

Trait Implementations

impl Clone for AttitudeSetpoint

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for AttitudeSetpoint

impl Debug for AttitudeSetpoint

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for AttitudeSetpoint

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for AttitudeSetpoint