This message reports the quaternion vector describing the vehicle body frame's orientation with respect to a local-level NED frame. The components of the vector should sum to a unit vector assuming that the LSB of each component as a value of 2^-31. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro.
{
"copyright": [
"Copyright (C) 2019-2021 Swift Navigation Inc.",
"Contact: https://support.swiftnav.com",
"",
"This source is subject to the license found in the file 'LICENSE' which must",
"be distributed together with this source. All other rights reserved.",
"",
"THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,",
"EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED",
"WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE."
],
"$schema": "http://json-schema.org/draft-06/schema#",
"$id": "#MsgOrientQuat",
"title":"MsgOrientQuat",
"description":"This message reports the quaternion vector describing the vehicle body frame's orientation with respect to a local-level NED frame. The components of the vector should sum to a unit vector assuming that the LSB of each component as a value of 2^-31. This message will only be available in future INS versions of Swift Products and is not produced by Piksi Multi or Duro.\n",
"type": "object",
"properties": {
"tow": {"type": "integer"},
"w": {"type": "integer"},
"x": {"type": "integer"},
"y": {"type": "integer"},
"z": {"type": "integer"},
"w_accuracy": {"type": "number"},
"x_accuracy": {"type": "number"},
"y_accuracy": {"type": "number"},
"z_accuracy": {"type": "number"},
"flags": {"type": "integer"}
},
"required": [
"tow",
"w",
"x",
"y",
"z",
"w_accuracy",
"x_accuracy",
"y_accuracy",
"z_accuracy",
"flags"
]
}