Struct sbp::messages::navigation::msg_vel_body::MsgVelBody

pub struct MsgVelBody {

    pub sender_id: Option<u16>,
    pub tow: u32,
    pub x: i32,
    pub y: i32,
    pub z: i32,
    pub cov_x_x: f32,
    pub cov_x_y: f32,
    pub cov_x_z: f32,
    pub cov_y_y: f32,
    pub cov_y_z: f32,
    pub cov_z_z: f32,
    pub n_sats: u8,
    pub flags: u8,
}

Velocity in User Frame

This message reports the velocity in the Vehicle Body Frame. By convention, the x-axis should point out the nose of the vehicle and represent the forward direction, while as the y-axis should point out the right hand side of the vehicle. Since this is a right handed system, z should point out the bottom of the vehicle. The orientation and origin of the Vehicle Body Frame are specified via the device settings. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is only produced by inertial versions of Swift products and is not available from Piksi Multi or Duro.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

GPS Time of Week

x: i32

Velocity in x direction

y: i32

Velocity in y direction

z: i32

Velocity in z direction

cov_x_x: f32

Estimated variance of x

cov_x_y: f32

Covariance of x and y

cov_x_z: f32

Covariance of x and z

cov_y_y: f32

Estimated variance of y

cov_y_z: f32

Covariance of y and z

cov_z_z: f32

Estimated variance of z

n_sats: u8

Number of satellites used in solution

flags: u8

Status flags

Implementations

impl MsgVelBody

pub fn ins_navigation_mode(&self) -> Result<InsNavigationMode, u8>

Gets the InsNavigationMode stored in the flags bitfield.

Returns Ok if the bitrange contains a known InsNavigationMode variant. Otherwise the value of the bitrange is returned as an Err(u8). This may be because of a malformed message, or because new variants of InsNavigationMode were added.

pub fn set_ins_navigation_mode(
    &mut self,
    ins_navigation_mode: InsNavigationMode
)

Set the bitrange corresponding to the InsNavigationMode of the flags bitfield.

pub fn velocity_mode(&self) -> Result<VelocityMode, u8>

Gets the VelocityMode stored in the flags bitfield.

Returns Ok if the bitrange contains a known VelocityMode variant. Otherwise the value of the bitrange is returned as an Err(u8). This may be because of a malformed message, or because new variants of VelocityMode were added.

pub fn set_velocity_mode(&mut self, velocity_mode: VelocityMode)

Set the bitrange corresponding to the VelocityMode of the flags bitfield.

Trait Implementations

impl Clone for MsgVelBody

fn clone(&self) -> MsgVelBody

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgVelBody

const MESSAGE_TYPE: u16 = 531u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_VEL_BODY"

The message name.

impl Debug for MsgVelBody

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

Formats the value using the given formatter.

impl From<MsgVelBody> for Sbp

fn from(msg: MsgVelBody) -> Self

Converts to this type from the input type.

impl SbpMessage for MsgVelBody

fn message_name(&self) -> &'static str

Get the message name.

fn message_type(&self) -> u16

Get the message type.

fn sender_id(&self) -> Option<u16>

Get the sender_id if it is set.

fn set_sender_id(&mut self, new_id: u16)

Set the sender id.

fn encoded_len(&self) -> usize

Number of bytes this message will take on the wire.

impl TryFrom<Sbp> for MsgVelBody

type Error = TryFromSbpError

The type returned in the event of a conversion error.

fn try_from(msg: Sbp) -> Result<Self, Self::Error>

Performs the conversion.