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- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
32 lines
1.4 KiB
Plaintext
32 lines
1.4 KiB
Plaintext
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint8 POSE_FRAME_UNKNOWN = 0
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uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame
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uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
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uint8 pose_frame # Position and orientation frame of reference
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float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
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float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
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uint8 VELOCITY_FRAME_UNKNOWN = 0
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uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame
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uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
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uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
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uint8 velocity_frame # Reference frame of the velocity data
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float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
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float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
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float32[3] position_variance
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float32[3] orientation_variance
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float32[3] velocity_variance
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uint8 reset_counter
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int8 quality
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# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
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# TOPICS estimator_odometry estimator_visual_odometry_aligned
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