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# FixedWingLateralSetpoint (UORB message)

Fixed Wing Lateral Setpoint message.

Used by the fw_lateral_longitudinal_control module
At least one of course, airspeed_direction, or lateral_acceleration must be finite.

**TOPICS:** fixed_wing_lateral_setpoint

## Fields

| Name                 | Type      | Unit [Frame] | Range/Enum | Description                                                                                                                                                                                     |
| -------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp            | `uint64`  | us           |            | Time since system start                                                                                                                                                                         |
| course               | `float32` | rad          | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.                                                                                                     |
| airspeed_direction   | `float32` | rad          | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. |
| lateral_acceleration | `float32` | m/s^2 [FRD]  |            | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.                                                   |

## Constants

| Name                                          | Type     | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |

## Source Message

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

::: details Click here to see original file

```c
# Fixed Wing Lateral Setpoint message
#
# Used by the fw_lateral_longitudinal_control module
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.

uint32 MESSAGE_VERSION = 0

uint64 timestamp # [us] Time since system start

float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
float32 lateral_acceleration # [m/s^2] [@frame FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
```

:::
