FP_A-ODOMENU

Description
Example message
Message fields

Available since firmware 2.85.3.

Description

This message contains full fusion ENU odometry output and additional status information. It is output at the configured rate.

By default, the ENU output is disabled, even if the message is enabled on the I/O port. First, you must configure the ENU output reference frame in the 'Output generators' field of the Web Interface.

Here, the user can choose to automatically select the reference system (ENU0) as the first ECEF measurement received by the sensor:

Alternatively, the user can manually define the reference system in ECEF coordinates:

Example message

$FP,ODOMENU,1,2180,298591.500000,-1.8339,2.6517,-0.0584,0.556794,-0.042551,-0.007850,0.829523,2.2993,

-1.6994,-0.0222,0.20063,0.08621,-1.21972,-3.6947,-3.3827,9.7482,4,1,8,8,1,0.00415,0.00946,0.00746,

-0.00149,-0.00084,0.00025,0.00003,0.00003,0.00012,0.00000,0.00000,0.00000,0.01742,0.01146,0.01612,

-0.00550,-0.00007,-0.00050*74rn

Message fields

#	Field	Format	Unit	Example	Description
1	`msg_type`	String	-	`ODOMENU`	Message type, always `ODOMENU` for this message
2	`msg_version`	Numeric	-	`1`	Message version, always `1` for this version of the `ODOMENU` message
3	`gps_week`	Numeric	-	`2180`	GPS week number, range 0–9999
4	`gps_tow`	Float (.6)	s	`298591.500000`	GPS time of week, range 0.000–604799.999999
5	`pos_x`	Float (.4)	m	`-1.8339`	Position in ENU0, X component
6	`pos_y`	Float (.4)	m	`2.6517`	Position in ENU0, Y component
7	`pos_z`	Float (.4)	m	`-0.0584`	Position in ENU0, Z component
8	`orientation_w`	Float (.6)	-	`0.556794`	Quaternion with respect to ENU0, W component
9	`orientation_x`	Float (.6)	-	`-0.042551`	Quaternion with respect to ENU0, X component
10	`orientation_y`	Float (.6)	-	`-0.007850`	Quaternion with respect to ENU0, Y component
11	`orientation_z`	Float (.6)	-	`0.829523`	Quaternion with respect to ENU0, Z component
12	`vel_x`	Float (.4)	m/s	`2.2993`	Velocity in output frame, X component
13	`vel_y`	Float (.4)	m/s	`-1.6994`	Velocity in output frame, Y component
14	`vel_z`	Float (.4)	m/s	`-0.0222`	Velocity in output frame, Z component
15	`rot_x`	Float (.5)	rad/s	`0.20063`	Bias corrected angular velocity in output frame, X component
16	`rot_y`	Float (.5)	rad/s	`0.08621`	Bias corrected angular velocity in output frame, Y component
17	`rot_z`	Float (.5)	rad/s	`-1.21972`	Bias corrected angular velocity in output frame, Z component
18	`acc_x`	Float (.4)	m/s²	`-3.6947`	Bias corrected acceleration in output frame, X component
19	`acc_y`	Float (.4)	m/s²	`-3.3827`	Bias corrected acceleration in output frame, Y component
20	`acc_z`	Float (.4)	m/s²	`9.7482`	Bias corrected acceleration in output frame, Z component
21	`fusion_status`	Numeric	-	`4`	Fustion status, see FP_A-ODOMETRY
22	`imu_bias_status`	Numeric	-	`1`	IMU bias status, see FP_A-ODOMETRY
23	`gnss1_fix`	Numeric	-	`8`	Fix status of GNSS1 receiver, see FP_A-ODOMETRY
24	`gnss2_fix`	Numeric	-	`8`	Fix status of GNSS2 receiver, see FP_A-ODOMETRY
25	`wheelspeed_status`	Numeric	-	`1`	Wheelspeed status, see FP_A-ODOMETRY
26	`pos_cov_xx`	Float (5)	m²	`0.00415`	Position covariance, element XX
27	`pos_cov_yy`	Float (5)	m²	`0.00946`	Position covariance, element YY
28	`pos_cov_zz`	Float (5)	m²	`0.00746`	Position covariance, element ZZ
29	`pos_cov_xy`	Float (5)	m²	`-0.00149`	Position covariance, element XY
30	`pos_cov_yz`	Float (5)	m²	`-0.00084`	Position covariance, element YZ
31	`pos_cov_xz`	Float (5)	m²	`0.00025`	Position covariance, element XZ
32	`orientation_cov_xx`	Float (5)	rad²	`0.00003`	Orientation covariance, element XX
33	`orientation_cov_yy`	Float (5)	rad²	`0.00003`	Orientation covariance, element YY
34	`orientation_cov_zz`	Float (5)	rad²	`0.00012`	Orientation covariance, element ZZ
35	`orientation_cov_xy`	Float (5)	rad²	`0.00000`	Orientation covariance, element XY
36	`orientation_cov_yz`	Float (5)	rad²	`0.00000`	Orientation covariance, element YZ
37	`orientation_cov_xz`	Float (5)	rad²	`0.00000`	Orientation covariance, element XZ
38	`vel_cov_xx`	Float (5)	m²/s²	`0.01742`	Velocity covariance, element XX
39	`vel_cov_yy`	Float (5)	m²/s²	`0.01146`	Velocity covariance, element YY
40	`vel_cov_zz`	Float (5)	m²/s²	`0.01612`	Velocity covariance, element ZZ
41	`vel_cov_xy`	Float (5)	m²/s²	`-0.00550`	Velocity covariance, element XY
42	`vel_cov_yz`	Float (5)	m²/s²	`-0.00007`	Velocity covariance, element YZ
43	`vel_cov_xz`	Float (5)	m²/s²	`-0.00050`	Velocity covariance, element XZ

For the fusion status (fusion_status), IMU bias status (imu_bias_status), GNSS fix type (gnss1_fix, gnss2_fix) and wheelspeed status (wheelspeed_status) see the documentation of the FP_A-ODOMETRY message.