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docs/en/msg_docs/VehicleLocalPositionSetpoint.md
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@@ -1,10 +1,34 @@
---
pageClass: is-wide-page
---
# VehicleLocalPositionSetpoint (UORB message)
Local position setpoint in NED frame
Telemetry of PID position controller to monitor tracking.
NaN means the state was not controlled
Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPositionSetpoint.msg)
**TOPICS:** vehicle_localposition_setpoint
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------ | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| x | `float32` | | | in meters NED |
| y | `float32` | | | in meters NED |
| z | `float32` | | | in meters NED |
| vx | `float32` | | | in meters/sec |
| vy | `float32` | | | in meters/sec |
| vz | `float32` | | | in meters/sec |
| acceleration | `float32[3]` | | | in meters/sec^2 |
| thrust | `float32[3]` | | | normalized thrust vector in NED |
| yaw | `float32` | | | in radians NED -PI..+PI |
| yawspeed | `float32` | | | in radians/sec |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPositionSetpoint.msg)
::: details Click here to see original file
```c
# Local position setpoint in NED frame
@@ -26,5 +50,6 @@ float32[3] thrust # normalized thrust vector in NED
float32 yaw # in radians NED -PI..+PI
float32 yawspeed # in radians/sec
```
:::