Struct Odometry 

pub struct Odometry {

    pub time_usec: u64,
    pub frame_id: MavFrame,
    pub child_frame_id: MavFrame,
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub q: [f32; 4],
    pub vx: f32,
    pub vy: f32,
    pub vz: f32,
    pub rollspeed: f32,
    pub pitchspeed: f32,
    pub yawspeed: f32,
    pub pose_covariance: [f32; 21],
    pub velocity_covariance: [f32; 21],
    pub reset_counter: u8,
    pub estimator_type: MavEstimatorType,
    pub quality: i8,
}

MAVLink ODOMETRY message.

The minimum supported MAVLink version is MAVLink 2.

Description

Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

Encoding/Decoding

Message encoding/decoding are provided by implementing core::convert::TryFrom<Payload> for Odometry (encoding) and [IntoPayload] (decoding) traits. These traits are implemented by Message proc macro.

Fields

time_usec: u64

MAVLink field time_usec.

Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

frame_id: MavFrame

MAVLink field frame_id.

Coordinate frame of reference for the pose data.

child_frame_id: MavFrame

MAVLink field child_frame_id.

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

x: f32

MAVLink field x.

X Position

y: f32

MAVLink field y.

Y Position

z: f32

MAVLink field z.

Z Position

q: [f32; 4]

MAVLink field q.

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

vx: f32

MAVLink field vx.

X linear speed

vy: f32

MAVLink field vy.

Y linear speed

vz: f32

MAVLink field vz.

Z linear speed

rollspeed: f32

MAVLink field rollspeed.

Roll angular speed

pitchspeed: f32

MAVLink field pitchspeed.

Pitch angular speed

yawspeed: f32

MAVLink field yawspeed.

Yaw angular speed

pose_covariance: [f32; 21]

MAVLink field pose_covariance.

Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

velocity_covariance: [f32; 21]

MAVLink field velocity_covariance.

Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

reset_counter: u8

MAVLink field reset_counter.

Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

estimator_type: MavEstimatorType

MAVLink field estimator_type.

Type of estimator that is providing the odometry.

quality: i8

MAVLink field quality.

Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

Implementations

impl Odometry

pub const ID: u32 = 331

MavLink message ID.

pub const fn spec() -> MessageInfo

Returns specification for this message.

pub const fn message_id() -> u32

Message ID.

pub const fn crc_extra() -> u8

Message CRC_EXTRA.

pub const fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

Trait Implementations

impl Clone for Odometry

fn clone(&self) -> Odometry

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Odometry

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Default for Odometry

fn default() -> Odometry

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Odometry

fn deserialize<__D>( __deserializer: __D, ) -> Result<Odometry, <__D as Deserializer<'de>>::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Flatten for Odometry

impl From<Odometry> for Common

fn from(value: Odometry) -> Common

Converts to this type from the input type.

impl IntoPayload for Odometry

fn encode(&self, version: MavLinkVersion) -> Result<Payload, SpecError>

Encodes message into MAVLink payload.

impl Message for Odometry

impl MessageSpec for Odometry

fn id(&self) -> u32

MAVLink message ID.

fn min_supported_mavlink_version(&self) -> MavLinkVersion

Minimum supported MAVLink protocol version.

fn crc_extra(&self) -> u8

Message EXTRA_CRC calculated from message XML definition.

impl MessageSpecStatic for Odometry

fn spec() -> MessageInfo

Returns specification for this message.

fn message_id() -> u32

Message ID.

fn crc_extra() -> u8

Message CRC_EXTRA.

fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

impl NamedType for Odometry

fn sid() -> SpectaID

fn named_data_type( type_map: &mut TypeCollection, generics: &[DataType], ) -> NamedDataType

this is equivalent to Type::inline but returns a NamedDataType instead.

fn definition_named_data_type(type_map: &mut TypeCollection) -> NamedDataType

this is equivalent to [Type::definition] but returns a NamedDataType instead.

impl PartialEq for Odometry

fn eq(&self, other: &Odometry) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for Odometry

fn serialize<__S>( &self, __serializer: __S, ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for Odometry

impl TryFrom<&Payload> for Odometry

type Error = SpecError

The type returned in the event of a conversion error.

fn try_from( value: &Payload, ) -> Result<Odometry, <Odometry as TryFrom<&Payload>>::Error>

Performs the conversion.

impl Type for Odometry

fn inline(type_map: &mut TypeCollection, generics: Generics<'_>) -> DataType

Returns the definition of a type using the provided generics.

fn reference(type_map: &mut TypeCollection, generics: &[DataType]) -> Reference

Generates a datatype corresponding to a reference to this type, as determined by its category. Getting a reference to a type implies that it should belong in the type map (since it has to be referenced from somewhere), so the output of definition will be put into the type map.