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mavsdk::TelemetryServer::Odometry Struct Reference ​

#include: telemetry_server.h

Odometry message type.

Public Types ​

TypeDescription
enum MavFrameMavlink frame id.

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).

VelocityBody velocity_body {} - Linear velocity (m/s).

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

Covariance pose_covariance {} - Pose cross-covariance matrix.

Covariance velocity_covariance {} - Velocity cross-covariance matrix.

Member Enumeration Documentation ​

enum MavFrame ​

Mavlink frame id.

ValueDescription
UndefFrame is undefined..
BodyNedSetpoint 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..
VisionNedOdometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down)..
EstimNedOdometry 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 ​

cpp
uint64_t mavsdk::TelemetryServer::Odometry::time_usec {}

Timestamp (0 to use Backend timestamp).

frame_id ​

cpp
MavFrame mavsdk::TelemetryServer::Odometry::frame_id {}

Coordinate frame of reference for the pose data.

child_frame_id ​

cpp
MavFrame mavsdk::TelemetryServer::Odometry::child_frame_id {}

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

position_body ​

cpp
PositionBody mavsdk::TelemetryServer::Odometry::position_body {}

Position.

q ​

cpp
Quaternion mavsdk::TelemetryServer::Odometry::q {}

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

velocity_body ​

cpp
VelocityBody mavsdk::TelemetryServer::Odometry::velocity_body {}

Linear velocity (m/s).

angular_velocity_body ​

cpp
AngularVelocityBody mavsdk::TelemetryServer::Odometry::angular_velocity_body {}

Angular velocity (rad/s).

pose_covariance ​

cpp
Covariance mavsdk::TelemetryServer::Odometry::pose_covariance {}

Pose cross-covariance matrix.

velocity_covariance ​

cpp
Covariance mavsdk::TelemetryServer::Odometry::velocity_covariance {}

Velocity cross-covariance matrix.