# FP_A-ODOMSH

**Description:**

This message contains full fusion odometry smooth output and additional status information. It is output at the configured rate. For more information about the smooth odometry frame, please refer to What is the smooth odometry output?.

**Example message:**

```
$FP,ODOMSH,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 |
| String | - |
| Message type, always |

2 |
| Numeric | - |
| Message version, always |

3 |
| Numeric | - |
| GPS week number, range 0–9999 |

4 |
| Float (.6) | s |
| GPS time of week, range 0.000–604799.999999 |

5 |
| Float (.4) | m |
| Position in ECEF, X component |

6 |
| Float (.4) | m |
| Position in ECEF, Y component |

7 |
| Float (.4) | m |
| Position in ECEF, Z component |

8 |
| Float (.6) | - |
| Quaternion with respect to ECEF, W component |

9 |
| Float (.6) | - |
| Quaternion with respect to ECEF, X component |

10 |
| Float (.6) | - |
| Quaternion with respect to ECEF, Y component |

11 |
| Float (.6) | - |
| Quaternion with respect to ECEF, Z component |

12 |
| Float (.4) | m/s |
| Velocity in output frame, X component |

13 |
| Float (.4) | m/s |
| Velocity in output frame, Y component |

14 |
| Float (.4) | m/s |
| Velocity in output frame, Z component |

15 |
| Float (.5) | rad/s |
| Bias corrected angular velocity in output frame, X component |

16 |
| Float (.5) | rad/s |
| Bias corrected angular velocity in output frame, Y component |

17 |
| Float (.5) | rad/s |
| Bias corrected angular velocity in output frame, Z component |

18 |
| Float (.4) | m/s |
| Bias corrected acceleration in output frame, X component |

19 |
| Float (.4) | m/s |
| Bias corrected acceleration in output frame, Y component |

20 |
| Float (.4) | m/s |
| Bias corrected acceleration in output frame, Z component |

21 |
| Numeric | - |
| Fustion status, see below |

22 |
| Numeric | - |
| IMU bias status, see below |

23 |
| Numeric | - |
| Fix status of GNSS1 receiver, see below |

24 |
| Numeric | - |
| Fix status of GNSS2 receiver, see below |

25 |
| Numeric | - |
| Wheelspeed status, see below |

26 |
| Float (5) | m |
| Position covariance, element XX |

27 |
| Float (5) | m |
| Position covariance, element YY |

28 |
| Float (5) | m |
| Position covariance, element ZZ |

29 |
| Float (5) | m |
| Position covariance, element XY |

30 |
| Float (5) | m |
| Position covariance, element YZ |

31 |
| Float (5) | m |
| Position covariance, element XZ |

32 |
| Float (5) | rad |
| Orientation covariance, element XX |

33 |
| Float (5) | rad |
| Orientation covariance, element YY |

34 |
| Float (5) | rad |
| Orientation covariance, element ZZ |

35 |
| Float (5) | rad |
| Orientation covariance, element XY |

36 |
| Float (5) | rad |
| Orientation covariance, element YZ |

37 |
| Float (5) | rad |
| Orientation covariance, element XZ |

38 |
| Float (5) | m |
| Velocity covariance, element XX |

39 |
| Float (5) | m |
| Velocity covariance, element YY |

40 |
| Float (5) | m |
| Velocity covariance, element ZZ |

41 |
| Float (5) | m |
| Velocity covariance, element XY |

42 |
| Float (5) | m |
| Velocity covariance, element YZ |

43 |
| Float (5) | m |
| 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.