# Request
uint8  target_sysid
uint8  target_compid

uint32 time_boot_ms        # ms since system boot, 一般用 0 讓飛控自己填
uint8  coordinate_frame    # MAV_FRAME_*
uint16 type_mask           # POSITION_TARGET_TYPEMASK bitmask
int32  lat_int             # 1e7 * latitude (deg)
int32  lon_int             # 1e7 * longitude (deg)
float32 alt                # altitude (m)
float32 vx                 # X velocity (m/s)
float32 vy                 # Y velocity (m/s)
float32 vz                 # Z velocity (m/s)
float32 afx                # X acceleration or force (m/s^2)
float32 afy                # Y acceleration or force (m/s^2)
float32 afz                # Z acceleration or force (m/s^2)
float32 yaw                # yaw (rad)
float32 yaw_rate           # yaw rate (rad/s)
float32 timeout_sec        # 等待 POSITION_TARGET_GLOBAL_INT 回應的時間上限
---
# Response
string message
uint8  ack_result  
uint32 r_time_boot_ms  
uint16 r_type_mask           
int32  r_lat_int            
int32  r_lon_int            
float32 r_alt                
float32 r_vx 
float32 r_vy 
float32 r_vz 
float32 r_afx          
float32 r_afy      
float32 r_afz              
float32 r_yaw        
float32 r_yaw_rate