> For the complete documentation index, see [llms.txt](https://px4.gitbook.io/px4-user-guide/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://px4.gitbook.io/px4-user-guide/development/middleware/msg_docs/trajectorysetpoint.md).

# TrajectorySetpoint

Trajectory setpoint in NED frame Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled

[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg)

```c
# Trajectory setpoint in NED frame
# Input to PID position controller.
# Needs to be kinematically consistent and feasible for smooth flight.
# setting a value to NaN means the state should not be controlled

uint64 timestamp # time since system start (microseconds)

# NED local world frame
float32[3] position # in meters
float32[3] velocity # in meters/second
float32[3] acceleration # in meters/second^2
float32[3] jerk # in meters/second^3 (for logging only)

float32 yaw # euler angle of desired attitude in radians -PI..+PI
float32 yawspeed # angular velocity around NED frame z-axis in radians/second

```