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 {}
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.