# MSG_AHRS
| MSG_AHRS | |||||
|---|---|---|---|---|---|
| Packet ID | 0x42 | ||||
| Length | 48 | ||||
| Read / Write | Read | ||||
| Offset | Size | Format | Field | Unit | Description |
| 0 | 4 | float32_t | RollSpeed | rad/s | 横滚角速度 |
| 4 | 4 | float32_t | PitchSpeed | rad/s | 俯仰角速度 |
| 8 | 4 | float32_t | HeadingSpeed | rad/s | 偏航角速度 |
| 12 | 4 | float32_t | Roll | rad | 横滚 |
| 16 | 4 | float32_t | Pitch | rad | 俯仰 |
| 20 | 4 | float32_t | Heading | rad | 偏航 |
| 24 | 4 | float32_t | Q1 | w | 四元数Q1 |
| 28 | 4 | float32_t | Q2 | x | 四元数Q2 |
| 32 | 4 | float32_t | Q3 | y | 四元数Q3 |
| 36 | 4 | float32_t | Q4 | z | 四元数Q4 |
| 40 | 8 | int64_t | Timestamp | us | 数据的时间戳 |