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docs/en/msg_docs/OrbitStatus.md
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# OrbitStatus (UORB message)
ORBIT_YAW_BEHAVIOUR.
Orbit status.
Current state of an orbit or loiter manoeuver, published while the maneuver is executing.
For multirotors, published by the orbit flight task (FlightTaskOrbit) on each control cycle
when a valid GPS projection is available.
For fixed-wing, published by FixedWingModeManager during loiter.
Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STATUS (message 360).
**TOPICS:** orbit_status
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| radius | `float32` | | | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m] |
| frame | `uint8` | | | The coordinate system of the fields: x, y, z. |
| x | `float64` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| y | `float64` | | | 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. |
| yaw_behaviour | `uint8` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------- | --------- | ------------ | ------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| radius | `float32` | m | | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. |
| frame | `uint8` | | [FRAME](#FRAME) | The coordinate system of the fields: x, y, z |
| x | `float64` | | | X coordinate of center point. Coordinate system depends on frame field: `local = x position in meters * 1e4`, `global = latitude in degrees * 1e7`. |
| y | `float64` | | | Y coordinate of center point. Coordinate system depends on frame field: `local = y position in meters * 1e4`, `global = longitude in degrees * 1e7`. |
| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. |
| yaw_behaviour | `uint8` | | [ORBIT_YAW_BEHAVIOUR](#ORBIT_YAW_BEHAVIOUR) |
## Constants
## Enums
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------- |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING"></a> ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 |
| <a id="#ORBIT_YAW_BEHAVIOUR_UNCONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 |
| <a id="#ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 |
| <a id="#ORBIT_YAW_BEHAVIOUR_UNCHANGED"></a> ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 |
### FRAME {#FRAME}
| Name | Type | Value | Description |
| ----------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------ |
| <a id="#FRAME_GLOBAL"></a> FRAME_GLOBAL | `uint8` | 0 | WGS84 global frame, MSL altitude. x/y = latitude/longitude (degrees × 1e7) |
| <a id="#FRAME_LOCAL_NED"></a> FRAME_LOCAL_NED | `uint8` | 1 | Local NED frame. x/y = north/east position (meters × 1e4) |
| <a id="#FRAME_GLOBAL_RELATIVE_ALT"></a> FRAME_GLOBAL_RELATIVE_ALT | `uint8` | 3 | WGS84 global frame, altitude above home. x/y = latitude/longitude (degrees × 1e7) |
| <a id="#FRAME_GLOBAL_TERRAIN_ALT"></a> FRAME_GLOBAL_TERRAIN_ALT | `uint8` | 10 | WGS84 global frame, altitude above terrain. x/y = latitude/longitude (degrees × 1e7) |
### ORBIT_YAW_BEHAVIOUR {#ORBIT_YAW_BEHAVIOUR}
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | Vehicle front points to the center (default). |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING"></a> ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | Vehicle front holds heading when message received. |
| <a id="#ORBIT_YAW_BEHAVIOUR_UNCONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | Yaw uncontrolled. |
| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | Vehicle front follows flight path (tangential to circle). |
| <a id="#ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | Yaw controlled by RC input. |
| <a id="#ORBIT_YAW_BEHAVIOUR_UNCHANGED"></a> ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | Vehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded. |
## Source Message
@@ -38,21 +55,34 @@ ORBIT_YAW_BEHAVIOUR.
::: details Click here to see original file
```c
# ORBIT_YAW_BEHAVIOUR
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
# Orbit status
#
# Current state of an orbit or loiter manoeuver, published while the maneuver is executing.
# For multirotors, published by the orbit flight task (FlightTaskOrbit) on each control cycle
# when a valid GPS projection is available.
# For fixed-wing, published by FixedWingModeManager during loiter.
# Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STATUS (message 360).
uint64 timestamp # time since system start (microseconds)
float32 radius # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
uint8 frame # The coordinate system of the fields: x, y, z.
float64 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
float64 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.
uint8 yaw_behaviour
uint64 timestamp # [us] Time since system start
float32 radius # [m] Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
uint8 frame # [@enum FRAME] The coordinate system of the fields: x, y, z
uint8 FRAME_GLOBAL = 0 # WGS84 global frame, MSL altitude. x/y = latitude/longitude (degrees × 1e7)
uint8 FRAME_LOCAL_NED = 1 # Local NED frame. x/y = north/east position (meters × 1e4)
uint8 FRAME_GLOBAL_RELATIVE_ALT = 3 # WGS84 global frame, altitude above home. x/y = latitude/longitude (degrees × 1e7)
uint8 FRAME_GLOBAL_TERRAIN_ALT = 10 # WGS84 global frame, altitude above terrain. x/y = latitude/longitude (degrees × 1e7)
float64 x # X coordinate of center point. Coordinate system depends on frame field: `local = x position in meters * 1e4`, `global = latitude in degrees * 1e7`.
float64 y # Y coordinate of center point. Coordinate system depends on frame field: `local = y position in meters * 1e4`, `global = longitude in degrees * 1e7`.
float32 z # Altitude of center point. Coordinate system depends on frame field.
uint8 yaw_behaviour # [@enum ORBIT_YAW_BEHAVIOUR]
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0 # Vehicle front points to the center (default).
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1 # Vehicle front holds heading when message received.
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2 # Yaw uncontrolled.
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3 # Vehicle front follows flight path (tangential to circle).
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4 # Yaw controlled by RC input.
uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5 # Vehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.
```
:::