> For the complete documentation index, see [llms.txt](https://iceberg-asv.gitbook.io/ball-tracker/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://iceberg-asv.gitbook.io/ball-tracker/waypoint-method.md).

# Waypoint Method

### MAVROS TOPICS OF INTEREST

[MAVROS Clover](https://clover.coex.tech/en/mavros.html)

#### General Topics:

* `/mavros/setpoint_position/local`
  * **ENU** coordinate

#### Topics to Send Raw Packets

'Raw Packets' imply the MAVROS message uses a specific Mavlink message. 

* `/mavros/setpoint_raw/local`
  * MAVLINK message: `SET_POSITION_TARGET_LOCAL_NED`
  * Sets a desired vehicle postion in a local north-east-down coordinate frame
  * X, Y, Z **type:** float **Units:** m
  * See [Mavlink Docs](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) for more detail