Struct sbp::messages::navigation::msg_pos_llh::MsgPosLlh

pub struct MsgPosLlh {
    pub sender_id: Option<u16>,
    pub tow: u32,
    pub lat: f64,
    pub lon: f64,
    pub height: f64,
    pub h_accuracy: u16,
    pub v_accuracy: u16,
    pub n_sats: u8,
    pub flags: u8,
}

Geodetic Position

This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover’s RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

GPS Time of Week

lat: f64

Latitude

lon: f64

Longitude

height: f64

Height above WGS84 ellipsoid

h_accuracy: u16

Horizontal position estimated standard deviation

v_accuracy: u16

Vertical position estimated standard deviation

n_sats: u8

Number of satellites used in solution.

flags: u8

Status flags

Implementations

impl MsgPosLlh

pub fn type_of_reported_tow(&self) -> Result<TypeOfReportedTow, u8>

Gets the TypeOfReportedTow stored in the flags bitfield.

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

pub fn set_type_of_reported_tow(
    &mut self,
    type_of_reported_tow: TypeOfReportedTow
)

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

pub fn inertial_navigation_mode(&self) -> Result<InertialNavigationMode, u8>

Gets the InertialNavigationMode stored in the flags bitfield.

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

pub fn set_inertial_navigation_mode(
    &mut self,
    inertial_navigation_mode: InertialNavigationMode
)

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

pub fn fix_mode(&self) -> Result<FixMode, u8>

Gets the FixMode stored in the flags bitfield.

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

pub fn set_fix_mode(&mut self, fix_mode: FixMode)

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

Trait Implementations

impl Clone for MsgPosLlh

fn clone(&self) -> MsgPosLlh

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgPosLlh

const MESSAGE_TYPE: u16 = 522u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_POS_LLH"

The message name.

impl Debug for MsgPosLlh

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

Formats the value using the given formatter.

impl From<MsgPosLlh> for Sbp

fn from(msg: MsgPosLlh) -> Self

Converts to this type from the input type.

impl SbpMessage for MsgPosLlh

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 MsgPosLlh

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.