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pageClass: is-wide-page
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# VehicleRoi (UORB message)

Vehicle Region Of Interest (ROI).

**TOPICS:** vehicle_roi

## Fields

| Name         | Type      | Unit [Frame] | Range/Enum | Description                            |
| ------------ | --------- | ------------ | ---------- | -------------------------------------- |
| timestamp    | `uint64`  |              |            | time since system start (microseconds) |
| mode         | `uint8`   |              |            | ROI mode (see above)                   |
| lat          | `float64` |              |            | Latitude to point to                   |
| lon          | `float64` |              |            | Longitude to point to                  |
| alt          | `float32` |              |            | Altitude to point to                   |
| roll_offset  | `float32` |              |            | angle offset in rad                    |
| pitch_offset | `float32` |              |            | angle offset in rad                    |
| yaw_offset   | `float32` |              |            | angle offset in rad                    |

## Constants

| Name                                    | Type    | Value | Description                                    |
| --------------------------------------- | ------- | ----- | ---------------------------------------------- |
| <a id="#ROI_NONE"></a> ROI_NONE         | `uint8` | 0     | No region of interest                          |
| <a id="#ROI_WPNEXT"></a> ROI_WPNEXT     | `uint8` | 1     | Point toward next MISSION with optional offset |
| <a id="#ROI_WPINDEX"></a> ROI_WPINDEX   | `uint8` | 2     | Point toward given MISSION                     |
| <a id="#ROI_LOCATION"></a> ROI_LOCATION | `uint8` | 3     | Point toward fixed location                    |
| <a id="#ROI_TARGET"></a> ROI_TARGET     | `uint8` | 4     | Point toward target                            |
| <a id="#ROI_ENUM_END"></a> ROI_ENUM_END | `uint8` | 5     |

## Source Message

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

::: details Click here to see original file

```c
# Vehicle Region Of Interest (ROI)

uint64 timestamp			# time since system start (microseconds)

uint8 ROI_NONE = 0			# No region of interest
uint8 ROI_WPNEXT = 1			# Point toward next MISSION with optional offset
uint8 ROI_WPINDEX = 2			# Point toward given MISSION
uint8 ROI_LOCATION = 3			# Point toward fixed location
uint8 ROI_TARGET = 4			# Point toward target
uint8 ROI_ENUM_END = 5

uint8 mode          # ROI mode (see above)

float64 lat			    # Latitude to point to
float64 lon			    # Longitude to point to
float32 alt			    # Altitude to point to

# additional angle offsets to next waypoint (only used with ROI_WPNEXT)
float32 roll_offset		# angle offset in rad
float32 pitch_offset		# angle offset in rad
float32 yaw_offset		# angle offset in rad
```

:::
