uint32 id			# ID of the estimator, commonly the component ID of the incoming message

uint64 timestamp_boot		# time of this estimate, in microseconds since system start
uint64 timestamp_computer	# timestamp provided by the companion computer, in us

float32[4] q			# Estimated attitude as quaternion

float32 x			# X position in meters in NED earth-fixed frame
float32 y			# Y position in meters in NED earth-fixed frame
float32 z			# Z position in meters in NED earth-fixed frame (negative altitude)