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18 lines
812 B
Markdown
18 lines
812 B
Markdown
# PurePursuitStatus (UORB message)
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Pure pursuit status
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PurePursuitStatus.msg)
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```c
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# Pure pursuit status
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uint64 timestamp # [us] Time since system start
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float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
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float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
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float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
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float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
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float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
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```
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