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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_control_configuration

## Fields

| Name              | Type      | Unit [Frame] | Range/Enum | Description                                                                  |
| ----------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
| timestamp         | `uint64`  | us           |            | Time since system start                                                      |
| 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 id="#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 # [us] Time since system start

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

:::