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# SetpointConfigReply (UORB message)

Reply to SetpointConfig.

**TOPICS:** setpoint_config_reply

## Fields

| Name                                                                | Type     | Unit [Frame] | Range/Enum        | Description                                        |
| ------------------------------------------------------------------- | -------- | ------------ | ----------------- | -------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp                                 | `uint64` | us           |                   | Time since system start                            |
| <a id="fld_type"></a>type                                           | `uint16` |              |                   | See SetpointConfig::TYPE\_\*                       |
| <a id="fld_source_id"></a>source_id                                 | `uint8`  |              |                   | nav_state of the mode that sent the SetpointConfig |
| <a id="fld_result"></a>result                                       | `uint8`  |              | [RESULT](#RESULT) |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `bool`   |              |                   |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude                 | `bool`   |              |                   |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt               | `bool`   |              |                   |
| <a id="fld_mode_req_local_position"></a>mode_req_local_position     | `bool`   |              |                   |

## Enums

### RESULT {#RESULT}

Used in field(s): [result](#fld_result)

| Name                                                                    | Type    | Value | Description                                          |
| ----------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------- |
| <a id="#RESULT_SUCCESS"></a> RESULT_SUCCESS                             | `uint8` | 0     |
| <a id="#RESULT_FAILURE_OTHER"></a> RESULT_FAILURE_OTHER                 | `uint8` | 1     |
| <a id="#RESULT_UNSUPPORTED"></a> RESULT_UNSUPPORTED                     | `uint8` | 2     | Setpoint type is unsupported for the current vehicle |
| <a id="#RESULT_UNKNOWN_SETPOINT_TYPE"></a> RESULT_UNKNOWN_SETPOINT_TYPE | `uint8` | 3     | The setpoint type is not known                       |

## Constants

| Name                                          | Type     | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |

## Source Message

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

::: details Click here to see original file

```c
# Reply to SetpointConfig

uint32 MESSAGE_VERSION = 0

uint64 timestamp # [us] Time since system start

uint16 type # See SetpointConfig::TYPE_*

uint8 source_id # nav_state of the mode that sent the SetpointConfig

uint8 RESULT_SUCCESS = 0
uint8 RESULT_FAILURE_OTHER = 1
uint8 RESULT_UNSUPPORTED = 2 # Setpoint type is unsupported for the current vehicle
uint8 RESULT_UNKNOWN_SETPOINT_TYPE = 3 # The setpoint type is not known
uint8 result # [@enum RESULT]

# Mode requirements for using the given setpoint type. A mode will use these and apply them to the arming check reply (PX4 does not do that itself).
# Certain setpoint types can be used in a reduced way, for example a TrajectorySetpoint without position control. In that case PX4 still sets all requirement flags, and the mode will then ignore mode_req_local_position.
bool mode_req_angular_velocity
bool mode_req_attitude
bool mode_req_local_alt
bool mode_req_local_position
```

:::