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# PositionControllerStatus (UORB message)

**TOPICS:** position_controller_status

## Fields

| Name              | Type      | Unit [Frame] | Range/Enum | Description                                                         |
| ----------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- |
| timestamp         | `uint64`  |              |            | time since system start (microseconds)                              |
| nav_roll          | `float32` |              |            | Roll setpoint [rad]                                                 |
| nav_pitch         | `float32` |              |            | Pitch setpoint [rad]                                                |
| nav_bearing       | `float32` |              |            | Bearing angle[rad]                                                  |
| target_bearing    | `float32` |              |            | Bearing angle from aircraft to current target [rad]                 |
| xtrack_error      | `float32` |              |            | Signed track error [m]                                              |
| wp_dist           | `float32` |              |            | Distance to active (next) waypoint [m]                              |
| acceptance_radius | `float32` |              |            | Current horizontal acceptance radius [m]                            |
| type              | `uint8`   |              |            | Current (applied) position setpoint type (see PositionSetpoint.msg) |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerStatus.msg)

::: details Click here to see original file

```c
uint64 timestamp		# time since system start (microseconds)

float32 nav_roll		# Roll setpoint [rad]
float32 nav_pitch		# Pitch setpoint [rad]
float32 nav_bearing 		# Bearing angle[rad]
float32 target_bearing		# Bearing angle from aircraft to current target [rad]
float32 xtrack_error		# Signed track error [m]
float32 wp_dist			# Distance to active (next) waypoint [m]
float32 acceptance_radius	# Current horizontal acceptance radius [m]
uint8 type			# Current (applied) position setpoint type (see PositionSetpoint.msg)
```

:::