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docs/en/msg_docs/LateralControlConfiguration.md
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@@ -1,9 +1,31 @@
---
pageClass: is-wide-page
---
# LateralControlConfiguration (UORB message)
Fixed Wing Lateral Control Configuration message
Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LateralControlConfiguration.msg)
**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
@@ -14,5 +36,6 @@ 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
```
:::