> 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/vehicletrajectorybezier.md).

# VehicleTrajectoryBezier

Vehicle Waypoints Trajectory description. See also MAVLink MAV\_TRAJECTORY\_REPRESENTATION msg The topic vehicle\_trajectory\_bezier is used to send a smooth flight path from the companion computer / avoidance module to the position controller.

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

```c
# Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
# The topic vehicle_trajectory_bezier is used to send a smooth flight path from the
# companion computer / avoidance module to the position controller.

uint64 timestamp		# time since system start (microseconds)

uint8 POINT_0 = 0
uint8 POINT_1 = 1
uint8 POINT_2 = 2
uint8 POINT_3 = 3
uint8 POINT_4 = 4

uint8 NUMBER_POINTS = 5

TrajectoryBezier[5] control_points
uint8 bezier_order

# TOPICS vehicle_trajectory_bezier

```