forked from Archive/PX4-Autopilot
69 lines
2.8 KiB
Plaintext
69 lines
2.8 KiB
Plaintext
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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# Covariance matrix index constants
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uint8 COVARIANCE_MATRIX_X_VARIANCE=0
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uint8 COVARIANCE_MATRIX_Y_VARIANCE=6
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uint8 COVARIANCE_MATRIX_Z_VARIANCE=11
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uint8 COVARIANCE_MATRIX_ROLL_VARIANCE=15
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uint8 COVARIANCE_MATRIX_PITCH_VARIANCE=18
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uint8 COVARIANCE_MATRIX_YAW_VARIANCE=20
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uint8 COVARIANCE_MATRIX_VX_VARIANCE=0
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uint8 COVARIANCE_MATRIX_VY_VARIANCE=6
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uint8 COVARIANCE_MATRIX_VZ_VARIANCE=11
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uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE=15
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uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE=18
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uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE=20
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# Position and linear velocity frame of reference constants
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uint8 LOCAL_FRAME_NED=0 # NED earth-fixed frame
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uint8 LOCAL_FRAME_FRD=1 # FRD earth-fixed frame, arbitrary heading reference
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uint8 LOCAL_FRAME_OTHER=2 # Not aligned with the std frames of reference
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uint8 BODY_FRAME_FRD=3 # FRD body-fixed frame
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# Position and linear velocity local frame of reference
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uint8 local_frame
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# Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
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float32 x # North position
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float32 y # East position
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float32 z # Down position
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# Orientation quaternion. First value NaN if invalid/unknown
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float32[4] q # Quaternion rotation from FRD body frame to refernce frame
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float32[4] q_offset # Quaternion rotation from odometry reference frame to navigation frame
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# Row-major representation of 6x6 pose cross-covariance matrix URT.
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# NED earth-fixed frame.
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# Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis
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# If position covariance invalid/unknown, first cell is NaN
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# If orientation covariance invalid/unknown, 16th cell is NaN
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float32[21] pose_covariance
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# Reference frame of the velocity data
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uint8 velocity_frame
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# Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
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float32 vx # North velocity
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float32 vy # East velocity
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float32 vz # Down velocity
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# Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown
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float32 rollspeed # Angular velocity about X body axis
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float32 pitchspeed # Angular velocity about Y body axis
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float32 yawspeed # Angular velocity about Z body axis
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# Row-major representation of 6x6 velocity cross-covariance matrix URT.
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# Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame.
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# Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis
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# If linear velocity covariance invalid/unknown, first cell is NaN
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# If angular velocity covariance invalid/unknown, 16th cell is NaN
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float32[21] velocity_covariance
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uint8 reset_counter
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# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
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# TOPICS estimator_odometry estimator_visual_odometry_aligned
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