px4-firmware/msg/vehicle_air_data.msg

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uint64 timestamp # time since system start (microseconds)
float32 baro_alt_meter # Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
float32 baro_temp_celcius # Temperature in degrees celsius
float32 baro_pressure_pa # Absolute pressure in pascals
float32 rho # air density