# position_setpoint (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 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED

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
bool velocity_valid     # true if local velocity setpoint valid
uint8 velocity_frame        # to set velocity setpoints in NED or body
bool alt_valid      # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.

float64 lat         # latitude, in deg
float64 lon         # longitude, in deg
float32 alt         # altitude AMSL, in m
float32 yaw         # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
bool yaw_valid          # true if yaw setpoint valid

float32 yawspeed        # yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid     # true if yawspeed setpoint valid

float32 loiter_radius       # loiter radius (only for fixed wing), in m
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field

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

bool disable_weather_vane   # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind