mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
102 lines
14 KiB
Markdown
102 lines
14 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# VehicleOdometry (повідомлення UORB)
|
|
|
|
Vehicle odometry data.
|
|
|
|
Fits ROS REP 147 for aerial vehicles
|
|
|
|
**TOPICS:** vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry estimator_odometry
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ----------------------------------------- | ------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| 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 |
|
|
| положення | `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 |
|
|
| швидкість | `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}
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| --------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| <a id="#POSE_FRAME_UNKNOWN"></a> POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
|
|
| <a id="#POSE_FRAME_NED"></a> POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. |
|
|
| <a id="#POSE_FRAME_FRD"></a> POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. |
|
|
|
|
### VELOCITY_FRAME {#VELOCITY_FRAME}
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| ---------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| <a id="#VELOCITY_FRAME_UNKNOWN"></a> VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
|
|
| <a id="#VELOCITY_FRAME_NED"></a> VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. |
|
|
| <a id="#VELOCITY_FRAME_FRD"></a> VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. |
|
|
| <a id="#VELOCITY_FRAME_BODY_FRD"></a> VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame |
|
|
|
|
## Constants
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| ------------------------------------------------------------------ | -------- | -------- | ---- |
|
|
| <a id="#MESSAGE_VERSION"></a> 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
|
|
```
|
|
|
|
:::
|