Odometry

mavspec::rust::dialects::development::messages

Type Alias Odometry 

Source 
pub type Odometry = Odometry;
Expand description

Originally defined in common::messages::odometry.

Aliased Type§

pub struct Odometry {
Show 18 fields
    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,

}

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