# GotoSetpoint (UORB message)

Position and (optional) heading setpoints with corresponding speed constraints Setpoints are intended as inputs to position and heading smoothers, respectively Setpoints do not need to be kinematically consistent Optional heading setpoints may be specified as controlled by the respective flag Unset optional setpoints are not controlled Unset optional constraints default to vehicle specifications

source file (opens new window)

# Position and (optional) heading setpoints with corresponding speed constraints
# Setpoints are intended as inputs to position and heading smoothers, respectively
# Setpoints do not need to be kinematically consistent
# Optional heading setpoints may be specified as controlled by the respective flag
# Unset optional setpoints are not controlled
# Unset optional constraints default to vehicle specifications

uint64 timestamp # time since system start (microseconds)

# setpoints
float32[3] position # [m] NED local world frame

bool flag_control_heading # true if heading is to be controlled
float32 heading # (optional) [rad] [-pi,pi] from North

# constraints
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane

bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis

bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)