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# TrajectorySetpoint6dof (UORB message)

Trajectory setpoint in NED frame. Input to position controller.

**TOPICS:** trajectory_setpoint6dof

## Fields

| Name             | Type         | Unit [Frame] | Range/Enum | Description                            |
| ---------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp        | `uint64`     |              |            | time since system start (microseconds) |
| position         | `float32[3]` |              |            | in meters                              |
| velocity         | `float32[3]` |              |            | in meters/second                       |
| acceleration     | `float32[3]` |              |            | in meters/second^2                     |
| jerk             | `float32[3]` |              |            | in meters/second^3 (for logging only)  |
| quaternion       | `float32[4]` |              |            | unit quaternion                        |
| angular_velocity | `float32[3]` |              |            | angular velocity in radians/second     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg)

::: details Click here to see original file

```c
# Trajectory setpoint in NED frame
# Input to position controller.

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[4] quaternion             # unit quaternion
float32[3] angular_velocity       # angular velocity in radians/second
```

:::