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# FixedWingLateralGuidanceStatus (UORB message)

Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.

**TOPICS:** fixed_wing_lateral_guidance_status

## Fields

| Name                    | Type      | Unit [Frame] | Range/Enum | Description                                                                                                                           |
| ----------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp               | `uint64`  |              |            | time since system start (microseconds)                                                                                                |
| course_setpoint         | `float32` | rad          | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law                                                       |
| lateral_acceleration_ff | `float32` | FRD          |            | lateral acceleration demand only for maintaining curvature                                                                            |
| bearing_feas            | `float32` |              | [0 : 1]    | bearing feasibility                                                                                                                   |
| bearing_feas_on_track   | `float32` |              | [0 : 1]    | on-track bearing feasibility                                                                                                          |
| signed_track_error      | `float32` | m            |            | signed track error                                                                                                                    |
| track_error_bound       | `float32` | m            |            | track error bound                                                                                                                     |
| adapted_period          | `float32` | s            |            | adapted period (if auto-tuning enabled)                                                                                               |
| wind_est_valid          | `uint8`   | boolean      |            | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg)

::: details Click here to see original file

```c
# Fixed Wing Lateral Guidance Status message
# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs

uint64 timestamp                # time since system start (microseconds)

float32 course_setpoint         # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
float32 bearing_feas            # [@range 0,1] bearing feasibility
float32 bearing_feas_on_track   # [@range 0,1] on-track bearing feasibility
float32 signed_track_error      # [m] signed track error
float32 track_error_bound       # [m] track error bound
float32 adapted_period          # [s] adapted period (if auto-tuning enabled)
uint8 wind_est_valid            # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
```

:::
