FP_A-ODOMETRY

Description:

This message contains full fusion odometry output and additional status information. It is output at the configured rate. Many outputs are only available once Fusion is fully initialized. For more status information, kindly use the FP_A-ODOMSTATUS message.

Example message:

CODE

$FP,ODOMETRY,2,2231,227610.750000,4279243.1641,635824.2171,4671589.8683,-0.412792,0.290804,-0.123898,0.854216,
-17.1078,-0.0526,-0.3252,0.02245,0.00275,0.10369,-1.0385,-1.3707,9.8249,4,1,8,8,1,
0.01761,0.02274,0.01713,-0.00818,0.00235,0.00129,0.00013,0.00015,0.00014,-0.00001,0.00001,0.00002,
0.03482,0.06244,0.05480,0.00096,0.00509,0.00054,fp_release_vr2_2.54.0_160*4F\r\n

Message fields:

#	Field	Format	Unit	Example	Description
1	`msg_type`	String	-	`ODOMETRY`	Message type, always `ODOMETRY` for this message
2	`msg_version`	Numeric	-	`2`	Message version, always `2` for this version of the `ODOMETRY` message
3	`gps_week`	Numeric	-	`2231`	GPS week number, range 0–9999
4	`gps_tow`	Float (.6)	s	`227610.750000`	GPS time of week, range 0.000–604799.999999
5	`pos_x`	Float (.4)	m	`4279243.1641`	Position in ECEF, X component
6	`pos_y`	Float (.4)	m	`635824.2171`	Position in ECEF, Y component
7	`pos_z`	Float (.4)	m	`4671589.8683`	Position in ECEF, Z component
8	`orientation_w`	Float (.6)	-	`-0.412792`	Quaternion with respect to ECEF, W component
9	`orientation_x`	Float (.6)	-	`0.290804`	Quaternion with respect to ECEF, X component
10	`orientation_y`	Float (.6)	-	`-0.123898`	Quaternion with respect to ECEF, Y component
11	`orientation_z`	Float (.6)	-	`0.854216`	Quaternion with respect to ECEF, Z component
12	`vel_x`	Float (.4)	m/s	`-17.1078`	Velocity in output frame, X component
13	`vel_y`	Float (.4)	m/s	`-0.0526`	Velocity in output frame, Y component
14	`vel_z`	Float (.4)	m/s	`-0.3252`	Velocity in output frame, Z component
15	`rot_x`	Float (.5)	rad/s	`0.02245`	Bias corrected angular velocity in output frame, X component
16	`rot_y`	Float (.5)	rad/s	`0.00275`	Bias corrected angular velocity in output frame, Y component
17	`rot_z`	Float (.5)	rad/s	`0.10369`	Bias corrected angular velocity in output frame, Z component
18	`acc_x`	Float (.4)	m/s²	`-1.0385`	Bias corrected acceleration in output frame, X component
19	`acc_y`	Float (.4)	m/s²	`-1.3707`	Bias corrected acceleration in output frame, Y component
20	`acc_z`	Float (.4)	m/s²	`9.8249`	Bias corrected acceleration in output frame, Z component
21	`fusion_status`	Numeric	-	`4`	Fustion status, see below
22	`imu_bias_status`	Numeric	-	`1`	IMU bias status, see below
23	`gnss1_fix`	Numeric	-	`8`	Fix status of GNSS1 receiver, see below
24	`gnss2_fix`	Numeric	-	`8`	Fix status of GNSS2 receiver, see below
25	`wheelspeed_status`	Numeric	-	`1`	Wheelspeed status, see below
26	`pos_cov_xx`	Float (5)	m²	`0.01761`	Position covariance, element XX
27	`pos_cov_yy`	Float (5)	m²	`0.02274`	Position covariance, element YY
28	`pos_cov_zz`	Float (5)	m²	`0.01713`	Position covariance, element ZZ
29	`pos_cov_xy`	Float (5)	m²	`-0.00818`	Position covariance, element XY
30	`pos_cov_yz`	Float (5)	m²	`0.00235`	Position covariance, element YZ
31	`pos_cov_xz`	Float (5)	m²	`0.00129`	Position covariance, element XZ
32	`orientation_cov_xx`	Float (5)	rad²	`0.00013`	Orientation covariance, element XX
33	`orientation_cov_yy`	Float (5)	rad²	`0.00015`	Orientation covariance, element YY
34	`orientation_cov_zz`	Float (5)	rad²	`0.00014`	Orientation covariance, element ZZ
35	`orientation_cov_xy`	Float (5)	rad²	`-0.00001`	Orientation covariance, element XY
36	`orientation_cov_yz`	Float (5)	rad²	`0.00001`	Orientation covariance, element YZ
37	`orientation_cov_xz`	Float (5)	rad²	`0.00002`	Orientation covariance, element XZ
38	`vel_cov_xx`	Float (5)	m²/s²	`0.03482`	Velocity covariance, element XX
39	`vel_cov_yy`	Float (5)	m²/s²	`0.06244`	Velocity covariance, element YY
40	`vel_cov_zz`	Float (5)	m²/s²	`0.05480`	Velocity covariance, element ZZ
41	`vel_cov_xy`	Float (5)	m²/s²	`0.00096`	Velocity covariance, element XY
42	`vel_cov_yz`	Float (5)	m²/s²	`0.00509`	Velocity covariance, element YZ
43	`vel_cov_xz`	Float (5)	m²/s²	`0.00054`	Velocity covariance, element XZ
44	`sw_version`	String	-	`fp_release_vr2_2.54.0_160`	Software version

Fusion status (fusion_status):

Value	Description
`0`	Not initialized
`1`	reserved
`2`	reserved
`3`	reserved
`4`	Visual-inertial-GNSS fusion

IMU bias status (imu_bias_status):

Value	Description
`0`	Not converged
`1`	IMU bias converged

GNSS fix type (gnss1_fix, gnss2_fix):

Value	Description
`0`	Unknown
`1`	No fix
`2`	Dead-reckoning only
`3`	Time-only fix
`4`	Single 2D fix
`5`	Single 3D fix
`6`	Single 3D fix with dead-reckoning
`7`	RTK float fix
`8`	RTK fixed fix

Wheelspeed status (wheelspeed_status):

Value	Description
`-1`	No wheelspeed enabled
`0`	At least one wheelspeed enabled, no wheelspeed converged
`1`	At least one wheelspeed enabled and converged