# Fixed Wing Lateral Guidance Status message
# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs

uint64 timestamp                # time since system start (microseconds)

float32 course_setpoint         # [rad] [-pi, pi] Bearing angle. Same as course over ground setpoint, w.r.t. North.
float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
float32 bearing_feas            # [0,1] bearing feasibility
float32 bearing_feas_on_track   # [0,1] on-track bearing feasibility
float32 signed_track_error      # [m] signed track error
float32 track_error_bound       # [m] track error bound
float32 adapted_period          # [s] adapted period (if auto-tuning enabled)
uint8 wind_est_valid            # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)