CStructs

struct gpsData_t
{
    uint64_t upTime;                                            //Timestamp since boot (ms)
    float x;                                                            //Latitude (Deg)
    float y;                                                            //Longitude (Deg)
    float z;                                                            //Altitude (Mean Sea Level) (m)
    float rz;                                                           //Relative Altitude (m)
    float vx;                                                           //Ground Speed (Latitude) (m/s)
    float vy;                                                           //Ground Speed (Longitude) (m/s)
    float vz;                                                           //Ground Speed (Altitude) (m/s)
    float hdg;                                                          //Compass Heading (Deg)
    uint64_t readTime;
    uint8_t payloadLen;
};

struct attitudeData_t
{
    uint64_t upTime;                                            //Timestamp since boot (ms)
    float r;                                                            //Roll (Rad [-pi]->[pi])
    float p;                                                            //Pitch (Rad [-pi]->[pi])
    float q;                                                            //Yaw (Rad [-pi]->[pi])
    float vr;                                                           //Roll Angular Speed (Rad/s)
    float vp;                                                           //Pitch Angular Speed (Rad/s)
    float vq;                                                           //Yaw Angular Speed (Rad/s)
    uint64_t readTime;
    uint8_t payloadLen;
};