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docs/en/msg_docs/TrajectorySetpoint6dof.md
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@@ -1,9 +1,30 @@
---
pageClass: is-wide-page
---
# TrajectorySetpoint6dof (UORB message)
Trajectory setpoint in NED frame
Input to position controller.
Trajectory setpoint in NED frame. Input to position controller.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg)
**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
@@ -19,5 +40,6 @@ float32[3] jerk # in meters/second^3 (for logging only)
float32[4] quaternion # unit quaternion
float32[3] angular_velocity # angular velocity in radians/second
```
:::