VehicleAttitude (UORB message)

This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z).

TOPICS: vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude estimator_attitude

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			the timestamp of the raw data (microseconds)
q	float32[4]			Quaternion rotation from the FRD body frame to the NED earth frame
delta_q_reset	float32[4]			Amount by which quaternion has changed during last reset
quat_reset_counter	uint8			Quaternion reset counter

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

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# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
# The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)

uint32 MESSAGE_VERSION = 0

uint64 timestamp                # time since system start (microseconds)

uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

float32[4] q                    # Quaternion rotation from the FRD body frame to the NED earth frame
float32[4] delta_q_reset        # Amount by which quaternion has changed during last reset
uint8 quat_reset_counter        # Quaternion reset counter

# TOPICS vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude
# TOPICS estimator_attitude