FP_A-ODOMSTATUS

Description
Example message
Message fields

Description

This message contains information regarding the internal status of the Fusion engine. It is output at the configured rate (i.e., alongside the main FP-A_ODOMETRY message).

Example message

$FP,ODOMSTATUS,1,2335,131953.400000,2,1,0,1,1,1,,0,,,,,,3,1,7,0,8,1,5,5,,0,6,,,,,,,,,,,,*23

Message fields

#	Field	Format	Unit	Example	Description
1	`msg_type`	String	-	`ODOMSTATUS`	Message type, always `ODOMSTATUS` for this message
2	`msg_version`	Numeric	-	`1`	Message version, always `1` for this version of the `ODOMSTATUS` 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	`init_status`	Numeric	-	`1`	Fusion init status, see below
6	`fusion_imu`	Numeric	-	`1`	Fusion measurement status: IMU, see below, see also `imu_status`, `imu_noise`, `imu_conv`
7	`fusion_gnss1`	Numeric	-	`1`	Fusion measurement status: GNSS 1, see below, see also `gnss1_status`
8	`fusion_gnss2`	Numeric	-	`1`	Fusion measurement status: GNSS 2, see below, see also `gnss2_status`
9	`fusion_corr`	Numeric	-	`1`	Fusion measurement status: GNSS corrections, see below, see also `corr_status`
10	`fusion_cam1`	Numeric	-	`1`	Fusion measurement status: camera, see below, see also `cam_status`
11	`reserved0`	-	-		Reserved for future or internal use, ignore
12	`fusion_ws`	Numeric	-	`1`	Fusion measurement status: wheelspeed, see below, see also `ws_conv`
13	`fusion_markers`	Numeric	-	`1`	Fusion measurement status: markers, see below, see also `markers_status`
14	`reserved0`	-	-		Reserved for future or internal use, ignore
15	`reserved1`	-	-		Reserved for future or internal use, ignore
16	`reserved2`	-	-		Reserved for future or internal use, ignore
17	`reserved3`	-	-		Reserved for future or internal use, ignore
18	`imu_status`	Numeric	-	`1`	IMU bias status, see below
19	`imu_noise`	Numeric	-	`1`	IMU variance status, see below
20	`imu_conv`	Numeric	-	`1`	IMU convergence status, see below
21	`gnss1_status`	Numeric	-	`1`	GNSS 1 status, see below
22	`gnss2_status`	Numeric	-	`1`	GNSS 2 status, see below
23	`baseline_status`	Numeric	-	`1`	Baseline status, see below
24	`corr_status`	Numeric	-	`1`	GNSS correction status, see below
25	`cam1_status`	Numeric	-	`1`	Camera 1 status, see below
26	`reserved4`	-	-		Reserved for future or internal use, ignore
27	`ws_status`	Numeric	-	`1`	Wheelspeed status, see below
28	`ws_conv`	Numeric	-	`1`	Wheelspeed convergence status, see below
29	`markers_status`	Numeric	-	`1`	Markers status, see below
20	`markers_conv`	Numeric	-	`1`	Markers convergence status, see below
31	`reserved5`	-	-		Reserved for future or internal use, ignore
32	`reserved6`	-	-		Reserved for future or internal use, ignore
33	`reserved7`	-	-		Reserved for future or internal use, ignore
34	`reserved8`	-	-		Reserved for future or internal use, ignore
35	`reserved9`	-	-		Reserved for future or internal use, ignore
36	`reserved10`	-	-		Reserved for future or internal use, ignore
37	`reserved11`	-	-		Reserved for future or internal use, ignore
38	`reserved12`	-	-		Reserved for future or internal use, ignore
39	`reserved13`	-	-		Reserved for future or internal use, ignore
40	`reserved14`	-	-		Reserved for future or internal use, ignore

Fusion initialization status (init_status):

Value	Description
null	Unknown
0	Not initialized
1	Locally initialized
2	Globally initialized

Fusion measurement status (fusion_imu, fusion_cam1, fusion_cam2, fusion_gnss1, fusion_gnss2, fusion_corr, fusion_ws, fusion_markers):

Value	Description
null	Info not available
0	Not used
1	Used
2	Degraded

IMU bias status (imu_status):

Value	Description
null	Info not available
0	Not converged
1	Warm-started
2	Rough convergence
3	Fine convergence

IMU variance (imu_noise):

Value	Description
null	Info not available
0	Reserved
1	Low noise
2	Medium noise
3	High noise
4…7	Reserved

IMU accelerometer and gyroscope convergence (imu_conv):

Value	Description
null	Info not available
0	Awaiting Fusion
1	Awaiting IMU measurements
2	Insufficient global measurements
3	Insufficient motion
4	Converging
5…6	Reserved for future use
7	Idle

GNSS fix status (gnss1_status, gnss2_status):

Value	Description
null	Info not available
0	No fix
1	Single-point positioning (SPP)
2	RTK moving baseline
3…4	Reserved for future use
5	RTK float
6…7	Reserved for future use
8	RTK fixed
9…	Reserved for future use

GNSS correction status (corr_status):

Value	Description
null	Info not available
0	Waiting fusion
1	No GNSS available
2	No corrections used
3	Limited corrections used: station data & at least one of the constellations (both bands) among the valid rover measurements
4	Corrections are too old (TBD)
5	Sufficient corrections used: station data and corrections for ALL bands among the valid rover measurements
6…	Reserved for future use

Baseline status (baseline_status):

Value	Description
null	Info not available
0	Waiting fusion
1	Not available / No fix
2	Failing
3	Passing

Camera status (cam1_status):

Value	Description
null	Info not available
0	Camera not available
1	Camera available, but not usable (e.g. too dark)
2…4	Reserved for future use
5	Camera working and available

Wheelspeed status (ws_status):

Value	Description
null	Info not available
0	No wheelspeed enabled
1	Missing wheelspeed measurements
2	At least one wheelspeed enabled, no wheelspeed converged
3	At least one wheelspeed enabled and at least one converged
4	At least one wheelspeed enabled and all converged

Wheelspeed convergence status (ws_conv):

Value	Description
null	Info not available
0	Awaiting Fusion
1	Missing wheelspeed measurements
2	Insufficient global measurements
3	Insufficient motion
4	Insufficient IMU bias convergence
5	Converging
6	Idle

Markers status (markers_status):

Value	Description
null	Info not available
0	No markers available
1	Markers available
2	Markers available, and used

Markers convergence status (markers_conv):

Value	Description
null	Info not available
0	Awaiting Fusion
1	Waiting marker measurements
2	Insufficient global measurements
3	Converging
4	Idle

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