text: // MESSAGE ATTITUDE_QUATERNION_COV support class
  
  #pragma once
  
  namespace mavlink {
  namespace common {
  namespace msg {
  
  /**
   * @brief ATTITUDE_QUATERNION_COV message
   *
   * The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
   */
  struct ATTITUDE_QUATERNION_COV : mavlink::Message {
      static constexpr msgid_t MSG_ID = 61;
      static constexpr size_t LENGTH = 72;
      static constexpr size_t MIN_LENGTH = 72;
      static constexpr uint8_t CRC_EXTRA = 167;
      static constexpr auto NAME = "ATTITUDE_QUATERNION_COV";
  
  
      uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. */
      std::array<float, 4> q; /*<  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation) */
      float rollspeed; /*< [rad/s] Roll angular speed */
      float pitchspeed; /*< [rad/s] Pitch angular speed */
      float yawspeed; /*< [rad/s] Yaw angular speed */
      std::array<float, 9> covariance; /*<  Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array. */
  
  
      inline std::string get_name(void) const override
      {
              return NAME;
      }
  
      inline Info get_message_info(void) const override
      {
              return { MSG_ID, LENGTH, MIN_LENGTH, CRC_EXTRA };
      }
  
      inline std::string to_yaml(void) const override
      {
          std::stringstream ss;
  
          ss << NAME << ":" << std::endl;
          ss << "  time_usec: " << time_usec << std::endl;
          ss << "  q: [" << to_string(q) << "]" << std::endl;
          ss << "  rollspeed: " << rollspeed << std::endl;
          ss << "  pitchspeed: " << pitchspeed << std::endl;
          ss << "  yawspeed: " << yawspeed << std::endl;
          ss << "  covariance: [" << to_string(covariance) << "]" << std::endl;
  
          return ss.str();
      }
  
      inline void serialize(mavlink::MsgMap &map) const override
      {
          map.reset(MSG_ID, LENGTH);
  
          map << time_usec;                     // offset: 0
          map << q;                             // offset: 8
          map << rollspeed;                     // offset: 24
          map << pitchspeed;                    // offset: 28
          map << yawspeed;                      // offset: 32
          map << covariance;                    // offset: 36
      }
  
      inline void deserialize(mavlink::MsgMap &map) override
      {
          map >> time_usec;                     // offset: 0
          map >> q;                             // offset: 8
          map >> rollspeed;                     // offset: 24
          map >> pitchspeed;                    // offset: 28
          map >> yawspeed;                      // offset: 32
          map >> covariance;                    // offset: 36
      }
  };
  
  } // namespace msg
  } // namespace common
  } // namespace mavlink
  