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# VehicleConstraints (UORB message)

Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.

**TOPICS:** vehicle_constraints

## Fields

| Name         | Type      | Unit [Frame] | Range/Enum | Description                                                                 |
| ------------ | --------- | ------------ | ---------- | --------------------------------------------------------------------------- |
| timestamp    | `uint64`  |              |            | time since system start (microseconds)                                      |
| speed_up     | `float32` |              |            | in meters/sec                                                               |
| speed_down   | `float32` |              |            | in meters/sec                                                               |
| want_takeoff | `bool`    |              |            | tell the controller to initiate takeoff when idling (ignored during flight) |

## Source Message

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

::: details Click here to see original file

```c
# Local setpoint constraints in NED frame
# setting something to NaN means that no limit is provided

uint64 timestamp # time since system start (microseconds)

float32 speed_up # in meters/sec
float32 speed_down # in meters/sec

bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
```

:::
