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. Note: roll (pos port side up) = atan2(up_vec.y, up_vec.x), pitch (+down) = asin(-up_vec.x).
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:

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

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

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