# 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 XYZ body frame to 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 vehicle_vision_attitude