Vehicle body rates and quaternion and its rates

[dinesh286]

I am using dronekit python in RPi3 connected with PIXHAWK for a fixed wing airplane. I need current body rates (p,q,r), current quaternion and current quaternion rates to implement a control algorithm. How to get the above things using dronekit python.

[pietrodn]

For the current quaternion, you could get an Attitude object by getting vehicle.attitude and convert the (roll, pitch, yaw) triplet to a quaternion.

Alternatively, you could add a listener for the ATTITUDE_QUATERNION MAVLink message.