Skip to main content
Skip table of contents

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:

CODE
$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

msg_type

String

-

ODOMSH

Message type, always ODOMSH for this message

2

msg_version

Numeric

-

1

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

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.

JavaScript errors detected

Please note, these errors can depend on your browser setup.

If this problem persists, please contact our support.