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53 lines
2.9 KiB
Markdown
53 lines
2.9 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleAttitude (UORB message)
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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).
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**TOPICS:** vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude estimator_attitude
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| q | `float32[4]` | | | Quaternion rotation from the FRD body frame to the NED earth frame |
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| delta_q_reset | `float32[4]` | | | Amount by which quaternion has changed during last reset |
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| quat_reset_counter | `uint8` | | | Quaternion reset counter |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| ------------------------------------------------------------------ | -------- | - | -- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg)
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:::details
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Click here to see original file
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```c
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# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
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# The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32[4] q # Quaternion rotation from the FRD body frame to the NED earth frame
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float32[4] delta_q_reset # Amount by which quaternion has changed during last reset
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uint8 quat_reset_counter # Quaternion reset counter
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# TOPICS vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude
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# TOPICS estimator_attitude
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```
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:::
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