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docs/en/msg_docs/VehicleRoi.md
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@@ -1,8 +1,42 @@
---
pageClass: is-wide-page
---
# VehicleRoi (UORB message)
Vehicle Region Of Interest (ROI)
Vehicle Region Of Interest (ROI).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRoi.msg)
**TOPICS:** vehicle_roi
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------ | --------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| mode | `uint8` | | | ROI mode (see above) |
| lat | `float64` | | | Latitude to point to |
| lon | `float64` | | | Longitude to point to |
| alt | `float32` | | | Altitude to point to |
| roll_offset | `float32` | | | angle offset in rad |
| pitch_offset | `float32` | | | angle offset in rad |
| yaw_offset | `float32` | | | angle offset in rad |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------- | ------- | ----- | ---------------------------------------------- |
| <a href="#ROI_NONE"></a> ROI_NONE | `uint8` | 0 | No region of interest |
| <a href="#ROI_WPNEXT"></a> ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset |
| <a href="#ROI_WPINDEX"></a> ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION |
| <a href="#ROI_LOCATION"></a> ROI_LOCATION | `uint8` | 3 | Point toward fixed location |
| <a href="#ROI_TARGET"></a> ROI_TARGET | `uint8` | 4 | Point toward target |
| <a href="#ROI_ENUM_END"></a> ROI_ENUM_END | `uint8` | 5 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRoi.msg)
::: details Click here to see original file
```c
# Vehicle Region Of Interest (ROI)
@@ -26,5 +60,6 @@ float32 alt # Altitude to point to
float32 roll_offset # angle offset in rad
float32 pitch_offset # angle offset in rad
float32 yaw_offset # angle offset in rad
```
:::