code: def ahrs_encode(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
                  '''
                  Status of DCM attitude estimator
  
                  omegaIx                   : X gyro drift estimate rad/s (float)
                  omegaIy                   : Y gyro drift estimate rad/s (float)
                  omegaIz                   : Z gyro drift estimate rad/s (float)
                  accel_weight              : average accel_weight (float)
                  renorm_val                : average renormalisation value (float)
                  error_rp                  : average error_roll_pitch value (float)
                  error_yaw                 : average error_yaw value (float)
  
                  '''
                  return MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yawf ahrs_encode(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
                  '''
                  Status of DCM attitude estimator
  
                  omegaIx                   : X gyro drift estimate rad/s (float)
                  omegaIy                   : Y gyro drift estimate rad/s (float)
                  omegaIz                   : Z gyro drift estimate rad/s (float)
                  accel_weight              : average accel_weight (float)
                  renorm_val                : average renormalisation value (float)
                  error_rp                  : average error_roll_pitch value (float)
                  error_yaw                 : average error_yaw value (float)
  
                  '''
                  return MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw)
docs: Status of DCM attitude estimator
  
                  omegaIx                   : X gyro drift estimate rad/s (float)
                  omegaIy                   : Y gyro drift estimate rad/s (float)
                  omegaIz                   : Z gyro drift estimate rad/s (float)
                  accel_weight              : average accel_weight (float)
                  renorm_val                : average renormalisation value (float)
                  error_rp                  : average error_roll_pitch value (float)
                  error_yaw                 : average error_yaw value (float)