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44 lines
1.6 KiB
Markdown
44 lines
1.6 KiB
Markdown
# VehicleOdometry (повідомлення UORB)
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Дані odometry Техніки. Відповідає ROS REP 147 для повітряних суден
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg)
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```c
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# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
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uint32 MESSAGE_VERSION = 0
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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
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```
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