px4-firmware/msg/vehicle_local_position_setp...

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# Local position setpoint in NED frame
# Telemetry of PID position controller to monitor tracking.
# NaN means the state was not controlled
uint64 timestamp # time since system start (microseconds)
float32 x # in meters NED
float32 y # in meters NED
float32 z # in meters NED
float32 vx # in meters/sec
float32 vy # in meters/sec
float32 vz # in meters/sec
float32[3] acceleration # in meters/sec^2
float32[3] thrust # normalized thrust vector in NED
float32 yaw # in radians NED -PI..+PI
float32 yawspeed # in radians/sec