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docs/en/msg_docs/TrajectorySetpoint.md
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---
pageClass: is-wide-page
---
# TrajectorySetpoint (UORB message)
Trajectory setpoint in NED frame
Input to PID position controller.
Needs to be kinematically consistent and feasible for smooth flight.
setting a value to NaN means the state should not be controlled
Trajectory setpoint in NED frame. Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
**TOPICS:** trajectory_setpoint
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------ | ------------ | ------------ | ---------- | ---------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| position | `float32[3]` | | | in meters |
| velocity | `float32[3]` | | | in meters/second |
| acceleration | `float32[3]` | | | in meters/second^2 |
| jerk | `float32[3]` | | | in meters/second^3 (for logging only) |
| yaw | `float32` | | | euler angle of desired attitude in radians -PI..+PI |
| yawspeed | `float32` | | | angular velocity around NED frame z-axis in radians/second |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
::: details Click here to see original file
```c
# Trajectory setpoint in NED frame
@@ -25,5 +50,6 @@ float32[3] jerk # in meters/second^3 (for logging only)
float32 yaw # euler angle of desired attitude in radians -PI..+PI
float32 yawspeed # angular velocity around NED frame z-axis in radians/second
```
:::