About VTOL trajectory tracking control offboard Control Problem

[Pinking-Lee]

Now I am working on the smooth trajectory tracking control of FW mode.
I find 2 msgs in px4_msgs as VehicleTrajectoryWaypoint.msg and VehicleTrajectoryBezier.msg.

I searched some comments, said they are mainly used for Mulitrotors.
And I currently haven't found any trajectory tracking control example scheme for FW mode by these 2 msgs yet (Maybe.., not support FW plane?).
Have you tried these 2 msgs to achieve smooth trajectory tracking in FW mode?
Do I need to independently write a set of tracking control code based on the attitude control case you provided？
Or give me some suggestions.

Thanks very much.