# VehicleAngularVelocity (UORB message)

[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg)

```c
uint32 MESSAGE_VERSION = 0

uint64 timestamp          # time since system start (microseconds)
uint64 timestamp_sample   # timestamp of the data sample on which this message is based (microseconds)

float32[3] xyz		  # Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s

float32[3] xyz_derivative # angular acceleration about the FRD body frame XYZ-axis in rad/s^2

# TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth

```
