github.com/bluenviron/gomavlib/v2@v2.2.1-0.20240308101627-2c07e3da629c/pkg/dialects/common/message_attitude_quaternion.go (about)

     1  //autogenerated:yes
     2  //nolint:revive,misspell,govet,lll
     3  package common
     4  
     5  // The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
     6  type MessageAttitudeQuaternion struct {
     7  	// Timestamp (time since system boot).
     8  	TimeBootMs uint32
     9  	// Quaternion component 1, w (1 in null-rotation)
    10  	Q1 float32
    11  	// Quaternion component 2, x (0 in null-rotation)
    12  	Q2 float32
    13  	// Quaternion component 3, y (0 in null-rotation)
    14  	Q3 float32
    15  	// Quaternion component 4, z (0 in null-rotation)
    16  	Q4 float32
    17  	// Roll angular speed
    18  	Rollspeed float32
    19  	// Pitch angular speed
    20  	Pitchspeed float32
    21  	// Yaw angular speed
    22  	Yawspeed float32
    23  	// Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.
    24  	ReprOffsetQ [4]float32 `mavext:"true"`
    25  }
    26  
    27  // GetID implements the message.Message interface.
    28  func (*MessageAttitudeQuaternion) GetID() uint32 {
    29  	return 31
    30  }