Struct sbp::messages::solution_meta::msg_soln_meta::MsgSolnMeta

pub struct MsgSolnMeta {
    pub sender_id: Option<u16>,
    pub tow: u32,
    pub pdop: u16,
    pub hdop: u16,
    pub vdop: u16,
    pub age_corrections: u16,
    pub age_gnss: u32,
    pub sol_in: Vec<SolutionInputType>,
}

Solution Sensors Metadata

This message contains all metadata about the sensors received and/or used in computing the sensorfusion solution. It focuses primarily, but not only, on GNSS metadata. Regarding the age of the last received valid GNSS solution, the highest two bits are time status, indicating whether age gnss can or can not be used to retrieve time of measurement (noted TOM, also known as time of validity) If it can, subtract ‘age gnss’ from ‘tow’ in navigation messages to get TOM. Can be used before alignment is complete in the Fusion Engine, when output solution is the last received valid GNSS solution and its tow is not a TOM.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

GPS time of week rounded to the nearest millisecond

pdop: u16

Position Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

hdop: u16

Horizontal Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

vdop: u16

Vertical Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

age_corrections: u16

Age of corrections as per last available AGE_CORRECTIONS from PVT engine (0xFFFF indicates invalid)

age_gnss: u32

Age and Time Status of the last received valid GNSS solution.

sol_in: Vec<SolutionInputType>

Array of Metadata describing the sensors potentially involved in the solution. Each element in the array represents a single sensor type and consists of flags containing (meta)data pertaining to that specific single sensor. Refer to each (XX)InputType descriptor in the present doc.

Implementations

impl MsgSolnMeta

pub fn time_status(&self) -> Result<TimeStatus, u8>

Gets the TimeStatus stored in the age_gnss bitfield.

Returns Ok if the bitrange contains a known TimeStatus 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 TimeStatus were added.

pub fn set_time_status(&mut self, time_status: TimeStatus)

Set the bitrange corresponding to the TimeStatus of the age_gnss bitfield.

pub fn age_of_the_last_received_valid_gnss_solution(&self) -> u32

Gets the age_of_the_last_received_valid_gnss_solution stored in age_gnss.

pub fn set_age_of_the_last_received_valid_gnss_solution(
    &mut self,
    age_of_the_last_received_valid_gnss_solution: u32
)

Sets the age_of_the_last_received_valid_gnss_solution bitrange of age_gnss.

Trait Implementations

impl Clone for MsgSolnMeta

fn clone(&self) -> MsgSolnMeta

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgSolnMeta

const MESSAGE_TYPE: u16 = 65_294u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_SOLN_META"

The message name.

impl Debug for MsgSolnMeta

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

Formats the value using the given formatter.

impl From<MsgSolnMeta> for Sbp

fn from(msg: MsgSolnMeta) -> Self

Converts to this type from the input type.

impl SbpMessage for MsgSolnMeta

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 MsgSolnMeta

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.