Separate message for trajectory setpoint

msg/CMakeLists.txt

@@ -164,6 +164,7 @@ set(msg_files
 	timesync.msg
 	timesync_status.msg
 	trajectory_bezier.msg
+	trajectory_setpoint.msg
 	trajectory_waypoint.msg
 	transponder_report.msg
 	tune_control.msg

msg/tools/urtps_bridge_topics.yaml

@@ -59,8 +59,7 @@ rtps:
     send:    true
   - msg:     vehicle_local_position_setpoint
     receive: true
-  - msg:     trajectory_setpoint # multi-topic / alias of vehicle_local_position_setpoint
-    base:    vehicle_local_position_setpoint
+  - msg:     trajectory_setpoint
     receive: true
   - msg:     vehicle_odometry
     send:    true

msg/trajectory_setpoint.msg

@@ -0,0 +1,15 @@
+# Trajectory setpoint in NED frame
+# Input to PID position controller.
+# Needs to be cinematically consistent and feasible for smooth flight.
+# setting a value to NaN means the state should not be controlled
+
+uint64 timestamp # time since system start (microseconds)
+
+# NED local world frame
+float32[3] position # in meters
+float32[3] velocity # in meters/second
+float32[3] acceleration # in meters/second^2
+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

msg/vehicle_local_position_setpoint.msg

@@ -1,5 +1,6 @@
 # Local position setpoint in NED frame
-# setting something to NaN means the state should not be controlled
+# Telemetry of PID position controller to monitor tracking.
+# NaN means the state was not controlled
 
 uint64 timestamp	# time since system start (microseconds)
 
@@ -12,7 +13,4 @@ float32 vx		# in meters/sec
 float32 vy		# in meters/sec
 float32 vz		# in meters/sec
 float32[3] acceleration # in meters/sec^2
-float32[3] jerk # in meters/sec^3
 float32[3] thrust	# normalized thrust vector in NED
-
-# TOPICS vehicle_local_position_setpoint trajectory_setpoint