Struct sbp::messages::imu::msg_imu_raw::MsgImuRaw

pub struct MsgImuRaw {
    pub sender_id: Option<u16>,
    pub tow: u32,
    pub tow_f: u8,
    pub acc_x: i16,
    pub acc_y: i16,
    pub acc_z: i16,
    pub gyr_x: i16,
    pub gyr_y: i16,
    pub gyr_z: i16,
}

Raw IMU data

Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message. If using “time since startup” time tags, the receiving end will expect a MSG_GNSS_TIME_OFFSET when a PVT fix becomes available to synchronise IMU measurements with GNSS. The timestamp must wrap around to zero when reaching one week (604800 seconds).

The time-tagging mode should not change throughout a run.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

Milliseconds since reference epoch and time status.

tow_f: u8

Milliseconds since reference epoch, fractional part

acc_x: i16

Acceleration in the IMU frame X axis

acc_y: i16

Acceleration in the IMU frame Y axis

acc_z: i16

Acceleration in the IMU frame Z axis

gyr_x: i16

Angular rate around IMU frame X axis

gyr_y: i16

Angular rate around IMU frame Y axis

gyr_z: i16

Angular rate around IMU frame Z axis

Implementations

impl MsgImuRaw

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

Gets the TimeStatus stored in the tow 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 tow bitfield.

pub fn time_since_reference_epoch_in_milliseconds(&self) -> u32

Gets the time_since_reference_epoch_in_milliseconds stored in tow.

pub fn set_time_since_reference_epoch_in_milliseconds(
    &mut self,
    time_since_reference_epoch_in_milliseconds: u32
)

Sets the time_since_reference_epoch_in_milliseconds bitrange of tow.

Trait Implementations

impl Clone for MsgImuRaw

fn clone(&self) -> MsgImuRaw

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgImuRaw

const MESSAGE_TYPE: u16 = 2_304u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_IMU_RAW"

The message name.

impl Debug for MsgImuRaw

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

Formats the value using the given formatter.

impl From<MsgImuRaw> for Sbp

fn from(msg: MsgImuRaw) -> Self

Converts to this type from the input type.

impl SbpMessage for MsgImuRaw

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 MsgImuRaw

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.