# Fixed Wing Lateral Setpoint message
# Used by the fw_lateral_longitudinal_control module
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.

uint32 MESSAGE_VERSION = 0

uint64 timestamp                        # time since system start (microseconds)

float32 course 				# [rad] [-pi, pi] Course over ground setpoint, w.r.t. North. NAN if not controlled directly.
float32 airspeed_direction    		# [rad] [-pi, pi] Angle projected to ground of desired airspeed vector, w.r.t. North. NAN if not controlled directly, used as feedforward if course setpoint is finite.
float32 lateral_acceleration 		# [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.