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# FigureEightStatus (UORB message)

**TOPICS:** figure_eight_status

## Fields

| Name         | Type      | Unit [Frame] | Range/Enum | Description                                                                                                                                     |
| ------------ | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp    | `uint64`  |              |            | time since system start (microseconds)                                                                                                          |
| major_radius | `float32` |              |            | Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise.                            |
| minor_radius | `float32` |              |            | Minor axis radius of the figure eight [m].                                                                                                      |
| orientation  | `float32` |              |            | Orientation of the major axis of the figure eight [rad].                                                                                        |
| frame        | `uint8`   |              |            | The coordinate system of the fields: x, y, z.                                                                                                   |
| x            | `int32`   |              |            | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| y            | `int32`   |              |            | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| z            | `float32` |              |            | Altitude of center point. Coordinate system depends on frame field.                                                                             |

## Source Message

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

::: details Click here to see original file

```c
uint64 timestamp # time since system start (microseconds)
float32 major_radius 	# Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise.
float32 minor_radius 	# Minor axis radius of the figure eight [m].
float32 orientation 	# Orientation of the major axis of the figure eight [rad].
uint8 frame      # The coordinate system of the fields: x, y, z.
int32 x          # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
int32 y        	 # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
float32 z        # Altitude of center point. Coordinate system depends on frame field.
```

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