Appearance

mavsdk::Mocap::Odometry Struct Reference ​

#include: mocap.h

Odometry message to communicate odometry information with an external interface.

Public Types ​

TypeDescription
enum MavFrameMavlink frame id.
enum MavEstimatorTypeEstimator type, matching MAVLink MAV_ESTIMATOR_TYPE.

Data Fields ​

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

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

PositionBody position_body {} - Body Position.

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

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

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

Covariance pose_covariance {} - Pose cross-covariance matrix.

Covariance velocity_covariance {} - Velocity cross-covariance matrix.

uint32_t reset_counter {} - Estimate reset counter. Increment when the estimate resets or jumps.

MavEstimatorType estimator_type {} - Type of estimator that is providing the odometry.

int32_t quality_percent {} - Optional odometry quality in percent. -1 = failed, 0 = unknown/unset, 1 = worst, 100 = best.

Member Enumeration Documentation ​

enum MavFrame ​

Mavlink frame id.

ValueDescription
MocapNedLegacy mocap NED frame. Deprecated in MAVLink and replaced by MAV_FRAME_LOCAL_FRD..
LocalFrdLocal FRD frame (x: forward, y: right, z: down)..

enum MavEstimatorType ​

Estimator type, matching MAVLink MAV_ESTIMATOR_TYPE.

ValueDescription
UnknownUnknown estimator type..
NaiveNaive estimator..
VisionComputer vision-based estimate..
VioVisual-inertial estimate..
GpsPlain GPS estimate..
GpsInsGPS and inertial navigation estimate..
MocapMotion capture estimate..
LidarLidar estimate..
AutopilotAutopilot estimate..

Field Documentation ​

time_usec ​

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

Timestamp (0 to use Backend timestamp).

frame_id ​

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

Coordinate frame of reference for the pose data.

position_body ​

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

Body Position.

q ​

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

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

speed_body ​

cpp
SpeedBody mavsdk::Mocap::Odometry::speed_body {}

Linear speed (m/s).

angular_velocity_body ​

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

Angular speed (rad/s).

pose_covariance ​

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

Pose cross-covariance matrix.

velocity_covariance ​

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

Velocity cross-covariance matrix.

reset_counter ​

cpp
uint32_t mavsdk::Mocap::Odometry::reset_counter {}

Estimate reset counter. Increment when the estimate resets or jumps.

estimator_type ​

cpp
MavEstimatorType mavsdk::Mocap::Odometry::estimator_type {}

Type of estimator that is providing the odometry.

quality_percent ​

cpp
int32_t mavsdk::Mocap::Odometry::quality_percent {}

Optional odometry quality in percent. -1 = failed, 0 = unknown/unset, 1 = worst, 100 = best.