Header header
float64 drone_time
uint16 tag
uint16 size
int32 ref_theta
int32 ref_phi
int32 ref_theta_I
int32 ref_phi_I
int32 ref_pitch
int32 ref_roll
int32 ref_yaw
int32 ref_psi
float32 vx_ref
float32 vy_ref
float32 theta_mod
float32 phi_mod
float32 k_v_x
float32 k_v_y
uint32 k_mode
float32 ui_time
float32 ui_theta
float32 ui_phi
float32 ui_psi
float32 ui_psi_accuracy
int32 ui_seq