struct OdometryEstimateData
Combined pose, twist, covariance, and estimator metadata.
FlatBuffers root table: OdometryEstimate
| Name | Type | Unit / Scale | Notes |
|---|---|---|---|
timestamp_us | ulong | microseconds | Estimate timestamp in monotonic boot time. |
position_enu_m | synapse.types.Vec3f | ENU frame (x east, y north, z up), meters | Local position in the ENU frame. |
attitude | synapse.types.Quaternionf | Orientation rotating body FLU vectors into the ENU world frame. | |
velocity_enu_m_s | synapse.types.Vec3f | ENU frame (x east, y north, z up), meters per second | Linear velocity in the ENU frame. |
angular_velocity_flu_rad_s | synapse.types.RateTriplet | FLU body frame (x forward, y left, z up), radians per second | Body angular velocity in the FLU frame. |
pose_covariance | synapse.types.CovarianceUpperTriangle21f | Upper-triangular covariance for position and orientation. | |
velocity_covariance | synapse.types.CovarianceUpperTriangle21f | Upper-triangular covariance for linear and angular velocity. | |
frame_id | synapse.types.ReferenceFrame | Reference frame of the pose fields. | |
child_frame_id | synapse.types.ReferenceFrame | Frame of the twist fields. | |
reset_counter | ubyte | Increments when the estimator resets or jumps the state. | |
estimator_type | ubyte | Producer-defined estimator implementation identifier. | |
quality_pct | byte | percent | Overall odometry quality percentage, or negative when unknown. |