ATTITUDE_REPORT

ID: 504

Payload Definition

Data Type
Name
Description

vec3

up_vec

world up vector (x,y,z) in the device coordinate system (x forward, y port, z up).

vec3

reserved

reserved for future magnetic field vector

u64

utc_msec

utc msec (1970 epoc). Will be 0 if not available.

u32

pwr_up_msec

msec since power up

To compute pitch and roll from the up_vec (assuming cable end of Surveyor is aft):

Pitch (positive bow up) = asin(up_vec.x);

Roll (positive port side up) = atan2(up_vec.y, up_vec.z);

We may support a calibrated magnetic vector in the future, but currently a heading signal from another source is required.

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