px4-firmware/msg/PositionControllerStatus.msg

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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]
float32 yaw_acceptance # Yaw acceptance error[rad]
float32 altitude_acceptance # Current vertical acceptance error [m]
uint8 type # Current (applied) position setpoint type (see PositionSetpoint.msg)