# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use

uint64 timestamp		    # time since system start (microseconds)

uint64 timestamp_sample     # the timestamp of the raw data (microseconds)

float32[4] q			    # Quaternion rotation from the FRD body frame to the 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
# TOPICS estimator_attitude