Struct ODOMETRY_DATA 

pub struct ODOMETRY_DATA {

    pub time_usec: u64,
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub q: [f32; 4],
    pub vx: f32,
    pub vy: f32,
    pub vz: f32,
    pub rollspeed: f32,
    pub pitchspeed: f32,
    pub yawspeed: f32,
    pub pose_covariance: [f32; 21],
    pub velocity_covariance: [f32; 21],
    pub frame_id: MavFrame,
    pub child_frame_id: MavFrame,
    pub reset_counter: u8,
    pub estimator_type: MavEstimatorType,
    pub quality: i8,
}

Available on crate feature common only.

Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

ID: 331

Fields

time_usec: u64

Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

x: f32

X Position

y: f32

Y Position

z: f32

Z Position

q: [f32; 4]

Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)

vx: f32

X linear speed

vy: f32

Y linear speed

vz: f32

Z linear speed

rollspeed: f32

Roll angular speed

pitchspeed: f32

Pitch angular speed

yawspeed: f32

Yaw angular speed

pose_covariance: [f32; 21]

Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

velocity_covariance: [f32; 21]

Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

frame_id: MavFrame

Coordinate frame of reference for the pose data.

child_frame_id: MavFrame

Coordinate frame of reference for the velocity in free space (twist) data.

reset_counter: u8

Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

estimator_type: MavEstimatorType

Type of estimator that is providing the odometry.

quality: i8

Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

Implementations

impl ODOMETRY_DATA

pub const ENCODED_LEN: usize = 233usize

pub const DEFAULT: Self

Trait Implementations

impl Clone for ODOMETRY_DATA

fn clone(&self) -> ODOMETRY_DATA

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ODOMETRY_DATA

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for ODOMETRY_DATA

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ODOMETRY_DATA

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl MessageData for ODOMETRY_DATA

const ID: u32 = 331u32

const NAME: &'static str = "ODOMETRY"

const EXTRA_CRC: u8 = 91u8

const ENCODED_LEN: usize = 233usize

type Message = MavMessage

fn deser(_version: MavlinkVersion, __input: &[u8]) -> Result<Self, ParserError>

Errors

fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize

Panics

impl PartialEq for ODOMETRY_DATA

fn eq(&self, other: &ODOMETRY_DATA) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for ODOMETRY_DATA

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for ODOMETRY_DATA