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# VehicleOdometry (UORB message)
Vehicle odometry data.
Fits ROS REP 147 for aerial vehicles
**TOPICS:** vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry estimator_odometry
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------- | ------------ | -------------------------------- | --------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp sample |
| pose_frame | `uint8` | | [POSE_FRAME](#POSE_FRAME) | Position and orientation frame of reference |
| position | `float32[3]` | m [local frame] | | Position. Origin is position of GC at startup. (Invalid: NaN If invalid/unknown) |
| q | `float32[4]` | | | Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world) (Invalid: NaN First value if invalid/unknown) |
| velocity_frame | `uint8` | | [VELOCITY_FRAME](#VELOCITY_FRAME) | Reference frame of the velocity data |
| velocity | `float32[3]` | m/s [@velocity_frame] | | Velocity. (Invalid: NaN If invalid/unknown) |
| angular_velocity | `float32[3]` | rad/s [@VELOCITY_FRAME_BODY_FRD] | | Angular velocity in body-fixed frame (Invalid: NaN If invalid/unknown) |
| position_variance | `float32[3]` | m^2 | | Variance of position error |
| orientation_variance | `float32[3]` | rad^2 | | Variance of orientation/attitude error (expressed in body frame) |
| velocity_variance | `float32[3]` | m^2/s^2 | | Variance of velocity error |
| reset_counter | `uint8` | | | Reset counter. Counts reset events on attitude, velocity and position. |
| quality | `int8` | | | Quality. Unused. (Invalid: 0) |
## Enums
### POSE_FRAME {#POSE_FRAME}
| Name | Type | Value | Description |
| --------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------- |
| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. |
| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. |
### VELOCITY_FRAME {#VELOCITY_FRAME}
| Name | Type | Value | Description |
| ------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------- |
| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. |
| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. |
| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg)
::: details Click here to see original file
```c
# Vehicle odometry data
#
# Fits ROS REP 147 for aerial vehicles
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp sample
uint8 pose_frame # [@enum POSE_FRAME] Position and orientation frame of reference
uint8 POSE_FRAME_UNKNOWN = 0 # Unknown frame
uint8 POSE_FRAME_NED = 1 # North-East-Down (NED) navigation frame. Aligned with True North.
uint8 POSE_FRAME_FRD = 2 # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down.
float32[3] position # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup.
float32[4] q # [-] [@invalid NaN First value if invalid/unknown] Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world)
uint8 velocity_frame # [@enum VELOCITY_FRAME] Reference frame of the velocity data
uint8 VELOCITY_FRAME_UNKNOWN = 0 # Unknown frame
uint8 VELOCITY_FRAME_NED = 1 # NED navigation frame at current position.
uint8 VELOCITY_FRAME_FRD = 2 # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down.
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
float32[3] velocity # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity.
float32[3] angular_velocity # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame
float32[3] position_variance # [m^2] Variance of position error
float32[3] orientation_variance # [rad^2] Variance of orientation/attitude error (expressed in body frame)
float32[3] velocity_variance # [m^2/s^2] Variance of velocity error
uint8 reset_counter # [-] Reset counter. Counts reset events on attitude, velocity and position.
int8 quality # [-] [@invalid 0] Quality. Unused.
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS estimator_odometry
```
:::