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# 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
# secondary attitude for VTOL
float32 roll_sec # Roll angle (rad, Tait-Bryan, NED)
float32 pitch_sec # Pitch angle (rad, Tait-Bryan, NED)
float32 yaw_sec # Yaw angle (rad, Tait-Bryan, NED)
float32 rollspeed_sec # Roll angular speed (rad/s, Tait-Bryan, NED)
float32 pitchspeed_sec # Pitch angular speed (rad/s, Tait-Bryan, NED)
float32 yawspeed_sec # Yaw angular speed (rad/s, Tait-Bryan, NED)
float32 rollacc_sec # Roll angular accelration (rad/s, Tait-Bryan, NED)
float32 pitchacc_sec # Pitch angular acceleration (rad/s, Tait-Bryan, NED)
float32 yawacc_sec # Yaw angular acceleration (rad/s, Tait-Bryan, NED)
float32[3] rate_offsets_sec # Offsets of the body angular rates from zero
float32[9] R_sec # Rotation matrix, body to world, (Tait-Bryan, NED)
float32[4] q_sec # Quaternion (NED)
float32[3] g_comp_sec # Compensated gravity vector
bool R_valid_sec # Rotation matrix valid
bool q_valid_sec # Quaternion valid
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