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# OrbitStatus (UORB message)

ORBIT_YAW_BEHAVIOUR.

**TOPICS:** orbit_status

## Fields

| Name          | Type      | Unit [Frame] | Range/Enum | Description                                                                                                                                     |
| ------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp     | `uint64`  |              |            | time since system start (microseconds)                                                                                                          |
| radius        | `float32` |              |            | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]                                       |
| frame         | `uint8`   |              |            | The coordinate system of the fields: x, y, z.                                                                                                   |
| x             | `float64` |              |            | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| y             | `float64` |              |            | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| z             | `float32` |              |            | Altitude of center point. Coordinate system depends on frame field.                                                                             |
| yaw_behaviour | `uint8`   |              |            |

## Constants

| Name                                                                                                            | Type    | Value | Description |
| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------- |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER   | `uint8` | 0     |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING"></a> ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING                 | `uint8` | 1     |
| <a id="#ORBIT_YAW_BEHAVIOUR_UNCONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_UNCONTROLLED                                 | `uint8` | 2     |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3     |
| <a id="#ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED                               | `uint8` | 4     |
| <a id="#ORBIT_YAW_BEHAVIOUR_UNCHANGED"></a> ORBIT_YAW_BEHAVIOUR_UNCHANGED                                       | `uint8` | 5     |

## Source Message

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

::: details Click here to see original file

```c
# ORBIT_YAW_BEHAVIOUR
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5

uint64 timestamp # time since system start (microseconds)
float32 radius   # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
uint8 frame      # The coordinate system of the fields: x, y, z.
float64 x        # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
float64 y        # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
float32 z        # Altitude of center point. Coordinate system depends on frame field.
uint8 yaw_behaviour
```

:::
