# PositionSetpoint (UORB message)

this file is only used in the position_setpoint triple as a dependency

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# this file is only used in the position_setpoint triple as a dependency

uint64 timestamp        # time since system start (microseconds)

uint8 SETPOINT_TYPE_POSITION=0  # position setpoint
uint8 SETPOINT_TYPE_VELOCITY=1  # velocity setpoint
uint8 SETPOINT_TYPE_LOITER=2    # loiter setpoint
uint8 SETPOINT_TYPE_TAKEOFF=3   # takeoff setpoint
uint8 SETPOINT_TYPE_LAND=4  # land setpoint, altitude must be ignored, descend until landing
uint8 SETPOINT_TYPE_IDLE=5  # do nothing, switch off motors or keep at idle speed (MC)

uint8 LOITER_TYPE_ORBIT=0   # Circular pattern
uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8

bool valid          # true if setpoint is valid
uint8 type          # setpoint type to adjust behavior of position controller

float32 vx          # local velocity setpoint in m/s in NED
float32 vy          # local velocity setpoint in m/s in NED
float32 vz          # local velocity setpoint in m/s in NED

float64 lat         # latitude, in deg
float64 lon         # longitude, in deg
float32 alt         # altitude AMSL, in m
float32 yaw         # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task

float32 loiter_radius       # loiter major axis radius in m
float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
float32 loiter_orientation  # Orientation of the major axis with respect to true north in rad [-pi,pi)
uint8   loiter_pattern      # loitern pattern to follow

float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoint navigation

float32 cruising_speed      # the generally desired cruising speed (not a hard constraint)
bool gliding_enabled        # commands the vehicle to glide if the capability is available (fixed wing only)
float32 cruising_throttle   # the generally desired cruising throttle (not a hard constraint), only has an effect for rover