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docs/en/msg_docs/NavigatorMissionItem.md
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@@ -1,8 +1,38 @@
---
pageClass: is-wide-page
---
# NavigatorMissionItem (UORB message)
**TOPICS:** navigator_missionitem
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorMissionItem.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| sequence_current | `uint16` | | | Sequence of the current mission item |
| nav_cmd | `uint16` | | |
| latitude | `float32` | | |
| longitude | `float32` | | |
| time_inside | `float32` | | | time that the MAV should stay inside the radius before advancing in seconds |
| acceptance_radius | `float32` | | | default radius in which the mission is accepted as reached in meters |
| loiter_radius | `float32` | | | loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise |
| yaw | `float32` | | | in radians NED -PI..+PI, NAN means don't change yaw |
| altitude | `float32` | | | altitude in meters (AMSL) |
| frame | `uint8` | | | mission frame |
| origin | `uint8` | | | mission item origin (onboard or mavlink) |
| loiter_exit_xtrack | `bool` | | | exit xtrack location: 0 for center of loiter wp, 1 for exit location |
| force_heading | `bool` | | | heading needs to be reached |
| altitude_is_relative | `bool` | | | true if altitude is relative from start point |
| autocontinue | `bool` | | | true if next waypoint should follow after this one |
| vtol_back_transition | `bool` | | | part of the vtol back transition sequence |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorMissionItem.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -28,5 +58,6 @@ bool force_heading # heading needs to be reached
bool altitude_is_relative # true if altitude is relative from start point
bool autocontinue # true if next waypoint should follow after this one
bool vtol_back_transition # part of the vtol back transition sequence
```
:::