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# LateralControlConfiguration (UORB message)

Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.

**TOPICS:** lateral_controlconfiguration

## Fields

| Name              | Type      | Unit [Frame] | Range/Enum | Description                                                                  |
| ----------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
| timestamp         | `uint64`  |              |            | time since system start (microseconds)                                       |
| lateral_accel_max | `float32` | m/s^2        |            | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |

## Constants

| Name                                            | Type     | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |

## Source Message

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

::: details Click here to see original file

```c
# Fixed Wing Lateral Control Configuration message
# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.

uint32 MESSAGE_VERSION = 0

uint64 timestamp          # time since system start (microseconds)

float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
```

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