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docs/en/msg_docs/FollowTargetStatus.md
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@@ -1,8 +1,29 @@
---
pageClass: is-wide-page
---
# FollowTargetStatus (UORB message)
**TOPICS:** follow_targetstatus
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------- |
| timestamp | `uint64` | microseconds | | time since system start |
| tracked_target_course | `float32` | rad | | Tracked target course in NED local frame (North is course zero) |
| follow_angle | `float32` | rad | | Current follow angle setting |
| orbit_angle_setpoint | `float32` | rad | | Current orbit angle setpoint from the smooth trajectory generator |
| angular_rate_setpoint | `float32` | rad/s | | Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle |
| desired_position_raw | `float32[3]` | m | | Raw 'idealistic' desired drone position if a drone could teleport from place to places |
| in_emergency_ascent | `bool` | bool | | True when doing emergency ascent (when distance to ground is below safety altitude) |
| gimbal_pitch | `float32` | rad | | Gimbal pitch commanded to track target in the center of the frame |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # [microseconds] time since system start
@@ -17,5 +38,6 @@ float32[3] desired_position_raw # [m] Raw 'idealistic' desired drone position
bool in_emergency_ascent # [bool] True when doing emergency ascent (when distance to ground is below safety altitude)
float32 gimbal_pitch # [rad] Gimbal pitch commanded to track target in the center of the frame
```
:::