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pageClass: is-wide-page
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# VehicleAttitude (UORB message)

This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z).

**TOPICS:** vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude estimator_attitude

## Fields

| Name               | Type         | Unit [Frame] | Range/Enum | Description                                                        |
| ------------------ | ------------ | ------------ | ---------- | ------------------------------------------------------------------ |
| timestamp          | `uint64`     |              |            | time since system start (microseconds)                             |
| timestamp_sample   | `uint64`     |              |            | the timestamp of the raw data (microseconds)                       |
| q                  | `float32[4]` |              |            | Quaternion rotation from the FRD body frame to the NED earth frame |
| delta_q_reset      | `float32[4]` |              |            | Amount by which quaternion has changed during last reset           |
| quat_reset_counter | `uint8`      |              |            | Quaternion reset counter                                           |

## Constants

| Name                                          | Type     | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg)

::: details Click here to see original file

```c
# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
# The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)

uint32 MESSAGE_VERSION = 0

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 external_ins_attitude
# TOPICS estimator_attitude
```

:::
