# Path setpoint in NED frame
# Input to Guidance controller
# Needs to be kinematically consistent and feasible for smooth flight.
# setting a value to NaN means the state should not be controlled

uint32 MESSAGE_VERSION = 0

uint64 timestamp # time since system start (microseconds)

float64 lat			# Latitude, (degrees)
float64 lon			# Longitude, (degrees)
float32 alt			# Altitude AMSL, (meters)
# NED local world frame
float32[3] tangent # Unit vector tangent to path
float height_rate
float32 curvature