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FP_A-ODOMSTATUS

This message is available from the firmware version 2.102.2

Description:

This message contains information regarding the internal status of the Fusion engine. It is output at the configured rate (i.e., alongside other messages, such as the FP-A_ODOMETRY message).

We recommend using this message to observe all parameters' status. Note that the information will not align with the status of, e.g., FP_A-ODOMETRY. This is because the status in the FP_A-ODOMSTATUS message refer to the internal Fusion logic. Therefore, the classification of each parameter state is done differently and thus the values are only fully available once Fusion is initialized

Example message:

CODE
$FP,ODOMSTATUS,1,2335,131953.400000,2,1,0,1,1,1,,0,,,,,,3,1,7,0,8,1,5,5,,0,6,,,,,,,,,,,,*23

Message fields:

#

Field

Format

Unit

Example

Description

1

msg_type

String

-

ODOMSTATUS

Message type, always ODOMSTATUS for this message

2

msg_version

Numeric

-

1

Message version, always 1 for this version of the ODOMSTATUS 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

init_status

Numeric

-

1

Fusion init status, see below

6

fusion_imu

Numeric

-

1

Fusion measurement status: IMU, see below, see also imu_status, imu_noise, imu_conv

7

fusion_gnss1

Numeric

-

1

Fusion measurement status: GNSS 1, see below, see also gnss1_status

8

fusion_gnss2

Numeric

-

1

Fusion measurement status: GNSS 2, see below, see also gnss2_status

9

fusion_corr

Numeric

-

1

Fusion measurement status: GNSS corrections, see below, see also corr_status

10

fusion_cam1

Numeric

-

1

Fusion measurement status: camera, see below, see also cam_status

11

reserved0

-

-

Reserved for future or internal use, ignore

12

fusion_ws

Numeric

-

1

Fusion measurement status: wheelspeed, see below, see also ws_conv

13

reserved0

Numeric

-

1

Reserved for future or internal use, ignore

14

reserved1

-

-

Reserved for future or internal use, ignore

15

reserved2

-

-

Reserved for future or internal use, ignore

16

reserved3

-

-

Reserved for future or internal use, ignore

17

reserved4

-

-

Reserved for future or internal use, ignore

18

imu_status

Numeric

-

1

IMU bias status, see below

19

imu_noise

Numeric

-

1

IMU variance status, see below

20

imu_conv

Numeric

-

1

IMU convergence status, see below

21

gnss1_status

Numeric

-

1

GNSS 1 status, see below

22

gnss2_status

Numeric

-

1

GNSS 2 status, see below

23

baseline_status

Numeric

-

1

Baseline status, see below

24

corr_status

Numeric

-

1

GNSS correction status, see below

25

cam1_status

Numeric

-

1

Camera 1 status, see below

26

reserved5

-

-

Reserved for future or internal use, ignore

27

ws_status

Numeric

-

1

Wheelspeed status, see below

28

ws_conv

Numeric

-

1

Wheelspeed convergence status, see below

29

reserved6

Numeric

-

1

Reserved for future or internal use, ignore

20

reserved7

Numeric

-

1

Reserved for future or internal use, ignore

31

reserved8

-

-

Reserved for future or internal use, ignore

32

reserved9

-

-

Reserved for future or internal use, ignore

33

reserved10

-

-

Reserved for future or internal use, ignore

34

reserved11

-

-

Reserved for future or internal use, ignore

35

reserved12

-

-

Reserved for future or internal use, ignore

36

reserved13

-

-

Reserved for future or internal use, ignore

37

reserved14

-

-

Reserved for future or internal use, ignore

38

reserved15

-

-

Reserved for future or internal use, ignore

39

reserved16

-

-

Reserved for future or internal use, ignore

40

reserved17

-

-

Reserved for future or internal use, ignore

Fusion initialization status (init_status)

Value

Description

null

Unknown

0

Not initialized

1

reserved

2

Globally initialized

Fusion measurement status (fusion_imu, fusion_cam1, fusion_cam2, fusion_gnss1, fusion_gnss2, fusion_corr, fusion_ws):

Value

Description

null

Info not available

0

Not used

1

Used

2

Degraded

IMU bias status (imu_status):

Value

Description

null

Info not available

0

Not converged

1

Warm-started

2

Rough convergence

3

Fine convergence

IMU variance (imu_noise):

Value

Description

null

Info not available

0

Reserved

1

Low noise

2

Medium noise

3

High noise

47

Reserved

IMU accelerometer and gyroscope convergence (imu_conv):

Value

Description

null

Info not available

0

Awaiting Fusion

1

Awaiting IMU measurements

2

Insufficient global measurements

3

Insufficient motion

4

Converging

56

Reserved for future use

7

Idle

GNSS fix status (gnss1_status, gnss2_status):

Value

Description

null

Info not available

0

No fix

1

Single-point positioning (SPP)

2

RTK moving baseline

34

Reserved for future use

5

RTK float

67

Reserved for future use

8

RTK fixed

9

Reserved for future use

GNSS correction status (corr_status):

Value

Description

null

Info not available

0

Waiting fusion

1

No GNSS available

2

No corrections used

3

Limited corrections used: station data & at least one of the constellations (both bands) among the valid rover measurements

4

Corrections are too old (TBD)

5

Sufficient corrections used: station data and corrections for ALL bands among the valid rover measurements

6

Reserved for future use

Baseline status (baseline_status)

Value

Description

null

Info not available

0

Waiting fusion

1

Not available / No fix

2

Failing

3

Passing

Camera status (cam1_status):

Value

Description

null

Info not available

0

Camera not available

1

Camera available, but not usable (e.g. too dark)

24

Reserved for future use

5

Camera working and available

Wheelspeed status (ws_status):

Value

Description

null

Info not available

0

No wheelspeed enabled

1

Missing wheelspeed measurements

2

At least one wheelspeed enabled, no wheelspeed converged

3

At least one wheelspeed enabled and at least one converged

4

At least one wheelspeed enabled and all converged

Wheelspeed convergence status (ws_conv):

Value

Description

null

Info not available

0

Awaiting Fusion

1

Missing wheelspeed measurements

2

Insufficient global measurements

3

Insufficient motion

4

Insufficient IMU bias convergence

5

Converging

6

Idle

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