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FP_A-ODOMENU

Available since VisionRTK 2.85.3.

Description:

This message contains full fusion ENU odometry output and additional status information. It is output at the configured rate.

Example message:

CODE
$FP,ODOMENU,1,2180,298591.500000,-1.8339,2.6517,-0.0584,0.556794,-0.042551,-0.007850,0.829523,2.2993,
-1.6994,-0.0222,0.20063,0.08621,-1.21972,-3.6947,-3.3827,9.7482,4,1,8,8,1,0.00415,0.00946,0.00746,
-0.00149,-0.00084,0.00025,0.00003,0.00003,0.00012,0.00000,0.00000,0.00000,0.01742,0.01146,0.01612,
-0.00550,-0.00007,-0.00050*74\r\n

Message fields:

#

Field

Format

Unit

Example

Description

1

msg_type

String

-

ODOMENU

Message type, always ODOMENU for this message

2

msg_version

Numeric

-

1

Message version, always 1 for this version of the ODOMENU message

3

gps_week

Numeric

-

2180

GPS week number, range 0–9999

4

gps_tow

Float (.6)

s

298591.500000

GPS time of week, range 0.000–604799.999999

5

pos_x

Float (.4)

m

-1.8339

Position in ENU0, X component

6

pos_y

Float (.4)

m

2.6517

Position in ENU0, Y component

7

pos_z

Float (.4)

m

-0.0584

Position in ENU0, Z component

8

orientation_w

Float (.6)

-

0.556794

Quaternion with respect to ENU0, W component

9

orientation_x

Float (.6)

-

-0.042551

Quaternion with respect to ENU0, X component

10

orientation_y

Float (.6)

-

-0.007850

Quaternion with respect to ENU0, Y component

11

orientation_z

Float (.6)

-

0.829523

Quaternion with respect to ENU0, Z component

12

vel_x

Float (.4)

m/s

2.2993

Velocity in output frame, X component

13

vel_y

Float (.4)

m/s

-1.6994

Velocity in output frame, Y component

14

vel_z

Float (.4)

m/s

-0.0222

Velocity in output frame, Z component

15

rot_x

Float (.5)

rad/s

0.20063

Bias corrected angular velocity in output frame, X component

16

rot_y

Float (.5)

rad/s

0.08621

Bias corrected angular velocity in output frame, Y component

17

rot_z

Float (.5)

rad/s

-1.21972

Bias corrected angular velocity in output frame, Z component

18

acc_x

Float (.4)

m/s2

-3.6947

Bias corrected acceleration in output frame, X component

19

acc_y

Float (.4)

m/s2

-3.3827

Bias corrected acceleration in output frame, Y component

20

acc_z

Float (.4)

m/s2

9.7482

Bias corrected acceleration in output frame, Z component

21

fusion_status

Numeric

-

4

Fustion status, see FP_A-ODOMETRY

22

imu_bias_status

Numeric

-

1

IMU bias status, see FP_A-ODOMETRY

23

gnss1_fix

Numeric

-

8

Fix status of GNSS1 receiver, see FP_A-ODOMETRY

24

gnss2_fix

Numeric

-

8

Fix status of GNSS2 receiver, see FP_A-ODOMETRY

25

wheelspeed_status

Numeric

-

1

Wheelspeed status, see FP_A-ODOMETRY

26

pos_cov_xx

Float (5)

m2

0.00415

Position covariance, element XX

27

pos_cov_yy

Float (5)

m2

0.00946

Position covariance, element YY

28

pos_cov_zz

Float (5)

m2

0.00746

Position covariance, element ZZ

29

pos_cov_xy

Float (5)

m2

-0.00149

Position covariance, element XY

30

pos_cov_yz

Float (5)

m2

-0.00084

Position covariance, element YZ

31

pos_cov_xz

Float (5)

m2

0.00025

Position covariance, element XZ

32

orientation_cov_xx

Float (5)

rad2

0.00003

Orientation covariance, element XX

33

orientation_cov_yy

Float (5)

rad2

0.00003

Orientation covariance, element YY

34

orientation_cov_zz

Float (5)

rad2

0.00012

Orientation covariance, element ZZ

35

orientation_cov_xy

Float (5)

rad2

0.00000

Orientation covariance, element XY

36

orientation_cov_yz

Float (5)

rad2

0.00000

Orientation covariance, element YZ

37

orientation_cov_xz

Float (5)

rad2

0.00000

Orientation covariance, element XZ

38

vel_cov_xx

Float (5)

m2/s2

0.01742

Velocity covariance, element XX

39

vel_cov_yy

Float (5)

m2/s2

0.01146

Velocity covariance, element YY

40

vel_cov_zz

Float (5)

m2/s2

0.01612

Velocity covariance, element ZZ

41

vel_cov_xy

Float (5)

m2/s2

-0.00550

Velocity covariance, element XY

42

vel_cov_yz

Float (5)

m2/s2

-0.00007

Velocity covariance, element YZ

43

vel_cov_xz

Float (5)

m2/s2

-0.00050

Velocity covariance, element XZ

For the fusion status (fusion_status), IMU bias status (imu_bias_status), GNSS fix type (gnss1_fix, gnss2_fix) and wheelspeed status (wheelspeed_status) see the documentation of the FP_A-ODOMETRY message.

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