px4-firmware/msg/VehicleAttitude.msg

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# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
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