diff options
Diffstat (limited to 'msg/vehicle_attitude.msg')
-rw-r--r-- | msg/vehicle_attitude.msg | 18 |
1 files changed, 18 insertions, 0 deletions
diff --git a/msg/vehicle_attitude.msg b/msg/vehicle_attitude.msg new file mode 100644 index 000000000..98018a1df --- /dev/null +++ b/msg/vehicle_attitude.msg @@ -0,0 +1,18 @@ +# This is similar to the mavlink message ATTITUDE, but for onboard use */ +uint64 timestamp # in microseconds since system start +# @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional +float32 roll # Roll angle (rad, Tait-Bryan, NED) +float32 pitch # Pitch angle (rad, Tait-Bryan, NED) +float32 yaw # Yaw angle (rad, Tait-Bryan, NED) +float32 rollspeed # Roll angular speed (rad/s, Tait-Bryan, NED) +float32 pitchspeed # Pitch angular speed (rad/s, Tait-Bryan, NED) +float32 yawspeed # Yaw angular speed (rad/s, Tait-Bryan, NED) +float32 rollacc # Roll angular accelration (rad/s, Tait-Bryan, NED) +float32 pitchacc # Pitch angular acceleration (rad/s, Tait-Bryan, NED) +float32 yawacc # Yaw angular acceleration (rad/s, Tait-Bryan, NED) +float32[3] rate_offsets # Offsets of the body angular rates from zero +float32[9] R # Rotation matrix, body to world, (Tait-Bryan, NED) +float32[4] q # Quaternion (NED) +float32[3] g_comp # Compensated gravity vector +bool R_valid # Rotation matrix valid +bool q_valid # Quaternion valid |