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docs/en/msg_docs/CollisionConstraints.md
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@@ -1,9 +1,26 @@
---
pageClass: is-wide-page
---
# CollisionConstraints (UORB message)
Local setpoint constraints in NED frame
setting something to NaN means that no limit is provided
Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg)
**TOPICS:** collision_constraints
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| original_setpoint | `float32[2]` | | | velocities demanded |
| adapted_setpoint | `float32[2]` | | | velocities allowed |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg)
::: details Click here to see original file
```c
# Local setpoint constraints in NED frame
@@ -13,5 +30,6 @@ uint64 timestamp # time since system start (microseconds)
float32[2] original_setpoint # velocities demanded
float32[2] adapted_setpoint # velocities allowed
```
:::