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+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_attitude.h
+ * Definition of the attitude uORB topic.
+ */
+
+#ifndef VEHICLE_ATTITUDE_H_
+#define VEHICLE_ATTITUDE_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Attitude in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct vehicle_attitude_s {
+
+	uint64_t timestamp;	/**< in microseconds since system start          */
+
+	/* This is similar to the mavlink message ATTITUDE, but for onboard use */
+
+	/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
+
+	float roll;		/**< Roll angle (rad, Tait-Bryan, NED)				*/
+	float pitch;		/**< Pitch angle (rad, Tait-Bryan, NED)				*/
+	float yaw;		/**< Yaw angle (rad, Tait-Bryan, NED)				*/
+	float rollspeed;	/**< Roll angular speed (rad/s, Tait-Bryan, NED)		*/
+	float pitchspeed;	/**< Pitch angular speed (rad/s, Tait-Bryan, NED)		*/
+	float yawspeed;		/**< Yaw angular speed (rad/s, Tait-Bryan, NED)			*/
+	float rollacc;		/**< Roll angular accelration (rad/s, Tait-Bryan, NED)		*/
+	float pitchacc;		/**< Pitch angular acceleration (rad/s, Tait-Bryan, NED)	*/
+	float yawacc;		/**< Yaw angular acceleration (rad/s, Tait-Bryan, NED)		*/
+	float rate_offsets[3];	/**< Offsets of the body angular rates from zero		*/
+	float R[3][3];		/**< Rotation matrix body to world, (Tait-Bryan, NED)		*/
+	float q[4];		/**< Quaternion (NED)						*/
+	bool R_valid;		/**< Rotation matrix valid					*/
+	bool q_valid;		/**< Quaternion valid						*/
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_attitude);
+
+#endif