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57 lines
3.1 KiB
Markdown
57 lines
3.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleLocalPositionSetpoint (UORB message)
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Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.
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**TOPICS:** vehicle_local_position_setpoint
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| x | `float32` | | | in meters NED |
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| y | `float32` | | | in meters NED |
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| z | `float32` | | | in meters NED |
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| vx | `float32` | | | in meters/sec |
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| vy | `float32` | | | in meters/sec |
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| vz | `float32` | | | in meters/sec |
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| acceleration | `float32[3]` | | | in meters/sec^2 |
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| thrust | `float32[3]` | | | normalized thrust vector in NED |
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| yaw | `float32` | | | in radians NED -PI..+PI |
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| yawspeed | `float32` | | | in radians/sec |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPositionSetpoint.msg)
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:::details
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Click here to see original file
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```c
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# Local position setpoint in NED frame
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# Telemetry of PID position controller to monitor tracking.
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# NaN means the state was not controlled
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uint64 timestamp # time since system start (microseconds)
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float32 x # in meters NED
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float32 y # in meters NED
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float32 z # in meters NED
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float32 vx # in meters/sec
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float32 vy # in meters/sec
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float32 vz # in meters/sec
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float32[3] acceleration # in meters/sec^2
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float32[3] thrust # normalized thrust vector in NED
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float32 yaw # in radians NED -PI..+PI
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float32 yawspeed # in radians/sec
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```
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:::
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