FP_A-ODOMETRY

Description:

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

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 started
`1`	Vision only
`2`	Visual inertial fusion
`3`	Inertial-GNSS fusion
`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