mavsdk::Telemetry::Odometry Struct Reference

#include: telemetry.h


Odometry information with an external interface type.

Public Types

Type Description
enum MavFrame Mavlink frame id Odometry subset.

Data Fields

uint64_t time_usec {} - Timestamp (0 to use Backend timestamp).

MavFrame frame_id {} - Coordinate frame of reference for the pose data.

MavFrame child_frame_id {} - Coordinate frame of reference for the velocity in free space (twist) data.

PositionBody position_body {} - Position.

Quaternion q {} - Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

SpeedBody velocity_body {} - Linear speed (m/s).

AngularVelocityBody angular_velocity_body {} - Angular body speed (rad/s).

std::array< float, 21 > pose_covariance {} - Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle. NaN if unknown.

std::array< float, 21 > velocity_covariance {} - Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle. NaN if unknown.

uint8_t reset_counter {} - Estimate reset counter.

Member Enumeration Documentation

enum MavFrame

Mavlink frame id Odometry subset.

Value Description
UNDEF Stub.
BODY_NED Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.
VISION_NED Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).
ESTIM_NED Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).

Field Documentation

time_usec

uint64_t mavsdk::Telemetry::Odometry::time_usec {}

Timestamp (0 to use Backend timestamp).

frame_id

MavFrame mavsdk::Telemetry::Odometry::frame_id {}

Coordinate frame of reference for the pose data.

child_frame_id

MavFrame mavsdk::Telemetry::Odometry::child_frame_id {}

Coordinate frame of reference for the velocity in free space (twist) data.

position_body

PositionBody mavsdk::Telemetry::Odometry::position_body {}

Position.

q

Quaternion mavsdk::Telemetry::Odometry::q {}

Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

velocity_body

SpeedBody mavsdk::Telemetry::Odometry::velocity_body {}

Linear speed (m/s).

angular_velocity_body

AngularVelocityBody mavsdk::Telemetry::Odometry::angular_velocity_body {}

Angular body speed (rad/s).

pose_covariance

std::array<float, 21> mavsdk::Telemetry::Odometry::pose_covariance {}

Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle. NaN if unknown.

velocity_covariance

std::array<float, 21> mavsdk::Telemetry::Odometry::velocity_covariance {}

Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle. NaN if unknown.

reset_counter

uint8_t mavsdk::Telemetry::Odometry::reset_counter {}

Estimate reset counter.

© Dronecode 2017-2019. License: CC BY 4.0            Updated: 2019-11-05 22:22:21

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