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docs/ko/msg_docs/VehicleOdometry.md
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---
pageClass: is-wide-page
---
# VehicleOdometry (UORB message)
Vehicle odometry data
Vehicle odometry data.
Fits ROS REP 147 for aerial vehicles
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg)
**TOPICS:** vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry estimator_odometry
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------- | ------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp sample |
| pose_frame | `uint8` | | [POSE_FRAME](#POSE_FRAME) | Position and orientation frame of reference |
| position | `float32[3]` | m [local frame] | | Position. Origin is position of GC at startup. (Invalid: NaN If invalid/unknown) |
| q | `float32[4]` | | | Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world) (Invalid: NaN First value if invalid/unknown) |
| velocity_frame | `uint8` | | [VELOCITY_FRAME](#VELOCITY_FRAME) | Reference frame of the velocity data |
| velocity | `float32[3]` | m/s [@velocity_frame] | | Velocity. (Invalid: NaN If invalid/unknown) |
| angular_velocity | `float32[3]` | rad/s [@VELOCITY_FRAME_BODY_FRD] | | Angular velocity in body-fixed frame (Invalid: NaN If invalid/unknown) |
| position_variance | `float32[3]` | m^2 | | Variance of position error |
| orientation_variance | `float32[3]` | rad^2 | | Variance of orientation/attitude error (expressed in body frame) |
| velocity_variance | `float32[3]` | m^2/s^2 | | Variance of velocity error |
| reset_counter | `uint8` | | | Reset counter. Counts reset events on attitude, velocity and position. |
| quality | `int8` | | | Quality. Unused. (Invalid: 0) |
## Enums
### POSE_FRAME {#POSE_FRAME}
| 명칭 | 형식 | Value | 설명 |
| ----------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#POSE_FRAME_UNKNOWN"></a> POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
| <a href="#POSE_FRAME_NED"></a> POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. |
| <a href="#POSE_FRAME_FRD"></a> POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. |
### VELOCITY_FRAME {#VELOCITY_FRAME}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#VELOCITY_FRAME_UNKNOWN"></a> VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
| <a href="#VELOCITY_FRAME_NED"></a> VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. |
| <a href="#VELOCITY_FRAME_FRD"></a> VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. |
| <a href="#VELOCITY_FRAME_BODY_FRD"></a> VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg)
:::details
Click here to see original file
```c
# Vehicle odometry data
@@ -42,5 +96,6 @@ int8 quality # [-] [@invalid 0] Quality. Unused.
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS estimator_odometry
```
:::