#
# Inertial data and orientation in body frame.
#

uavcan.Timestamp timestamp

#
# Normalized quaternion
#
float16[4] orientation_xyzw
void4
float16[<=9] orientation_covariance

#
# rad/sec
#
float16[3] angular_velocity
void4
float16[<=9] angular_velocity_covariance

#
# m/s^2
#
float16[3] linear_acceleration
float16[<=9] linear_acceleration_covariance