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FP_A-ODOMSTATUS

This message is available from 2.102.1

Description:

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

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

fusion_markers

Numeric

-

1

Fusion measurement status: markers, see below, see also markers_status

14

reserved0

-

-

Reserved for future or internal use, ignore

15

reserved1

-

-

Reserved for future or internal use, ignore

16

reserved2

-

-

Reserved for future or internal use, ignore

17

reserved3

-

-

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

reserved4

-

-

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

markers_status

Numeric

-

1

Markers status, see below

20

markers_conv

Numeric

-

1

Markers convergence status, see below

31

reserved5

-

-

Reserved for future or internal use, ignore

32

reserved6

-

-

Reserved for future or internal use, ignore

33

reserved7

-

-

Reserved for future or internal use, ignore

34

reserved8

-

-

Reserved for future or internal use, ignore

35

reserved9

-

-

Reserved for future or internal use, ignore

36

reserved10

-

-

Reserved for future or internal use, ignore

37

reserved11

-

-

Reserved for future or internal use, ignore

38

reserved12

-

-

Reserved for future or internal use, ignore

39

reserved13

-

-

Reserved for future or internal use, ignore

40

reserved14

-

-

Reserved for future or internal use, ignore

Fusion initialization status (init_status)

Value

Description

null

Unknown

0

Not initialized

1

Locally initialized

2

Globally initialized

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

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

Markers status (markers_status):

Value

Description

null

Info not available

0

No markers available

1

Markers available

2

Markers available, and used

Markers convergence status (markers_conv):

Value

Description

null

Info not available

0

Awaiting Fusion

1

Waiting marker measurements

2

Insufficient global measurements

3

Converging

4

Idle

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