# 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