Struct mavlink::common::ODOMETRY_DATA

pub struct ODOMETRY_DATA {
    pub time_usec: u64,
    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 frame_id: MavFrame,
    pub child_frame_id: MavFrame,
    pub reset_counter: u8,
    pub estimator_type: MavEstimatorType,
}

id: 331 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)..

Fields

time_usec: u64

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..

x: f32

X Position.

y: f32

Y Position.

z: f32

Z Position.

q: [f32; 4]

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

vx: f32

X linear speed.

vy: f32

Y linear speed.

vz: f32

Z linear speed.

rollspeed: f32

Roll angular speed.

pitchspeed: f32

Pitch angular speed.

yawspeed: f32

Yaw angular speed.

pose_covariance: [f32; 21]

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]

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..

frame_id: MavFrame

Coordinate frame of reference for the pose data..

child_frame_id: MavFrame

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

reset_counter: u8

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

Type of estimator that is providing the odometry..

Implementations

impl ODOMETRY_DATA

pub const ENCODED_LEN: usize

pub fn deser(
    version: MavlinkVersion,
    _input: &[u8]
) -> Result<Self, ParserError>

pub fn ser(&self) -> Vec<u8>

Trait Implementations

impl Clone for ODOMETRY_DATA

fn clone(&self) -> ODOMETRY_DATA

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ODOMETRY_DATA

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

Formats the value using the given formatter.

impl Default for ODOMETRY_DATA

fn default() -> ODOMETRY_DATA

Returns the "default value" for a type.

impl<'de> Deserialize<'de> for ODOMETRY_DATA

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

Deserialize this value from the given Serde deserializer.

impl PartialEq<ODOMETRY_DATA> for ODOMETRY_DATA

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

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=.

impl Serialize for ODOMETRY_DATA

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

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for ODOMETRY_DATA