px4-firmware/msg/vehicle_attitude.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)
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