7.3. Fusion output
The required output port bandwidth depends on the configuration. For example, on a
serial port, the baud rate must be set high enough for the necessary bandwidth. The
exact number depends on what messages are enabled for the port and the configured
fusion output frequency.
7.3.1. FP_A-ODOMETRY
This message contains full fusion odometry output and additional status information. It is
output at the configured rate (see above).
Example message (wrapped on multiple lines for readability):
1 $FP , ODOMETRY ,2 ,22 31 ,22 7610.750 000 ,42 79243.16 41 ,6358 24.2171 ,4 67158 9.8683 ,
-0.412792 ,0.290804 , -0.123898 ,0.854216 , -17.1078 , -0.0526 , -0.3252 ,0.02245 ,
0.00275 ,0.10369 , -1.0385 , -1.3707 ,9.8249 ,4 ,1 ,8 ,8 ,1 ,0.01761 ,0.02274 ,
0.017 13 , -0.00818 ,0. 00235 , 0.00129 ,0.00013 ,0.00 015 ,0.00014 , -0.00001 ,
0.0 0001 ,0. 0000 2 ,0. 0348 2 ,0.06244 ,0.05480 ,0.00 096 , 0.00 509 ,0.00054 ,
fp _re lease _vr2_2 .54.0 _160 *4 F \r \n
Message fields:
# Field Format Unit Example Description
1 msg_type String - ODOMETRY
Message type, always
ODOMETRY for this message
2 msg_version Numeric - 2
Message version, always
2 for this version of
the ODOMETRY message
3 gps_week Numeric - 2231
GPS week number,
range 0–9999
4 gps_tow Float (.6) s 227610.750000
GPS time of week, range
0.000–604799.999999
5 pos_x Float (.4) m 4279243.1641
Position in ECEF,
X component
6 pos_y Float (.4) m 635824.2171
Position in ECEF,
Y component
7 pos_z Float (.4) m 4671589.8683
Position in ECEF,
Z component
8 orientation_w Float (.6) - -0.412792
Quaternion with respect
to ECEF, W component
9 orientation_x Float (.6) - 0.290804
Quaternion with respect
to ECEF, X component
10 orientation_y Float (.6) - -0.123898
Quaternion with respect
to ECEF, Y component
11 orientation_z Float (.6) - 0.854216
Quaternion with respect
to ECEF, Z component
12 vel_x Float (.4) m/s -17.1078
Velocity in output frame,
X component
Vision-RTK 2 | Fixposition Positioning Sensor 54
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