Struct sbp::messages::navigation::msg_pos_llh_acc::MsgPosLlhAcc
source · [−]pub struct MsgPosLlhAcc {Show 14 fields
pub sender_id: Option<u16>,
pub tow: u32,
pub lat: f64,
pub lon: f64,
pub height: f64,
pub orthometric_height: f64,
pub h_accuracy: f32,
pub v_accuracy: f32,
pub ct_accuracy: f32,
pub at_accuracy: f32,
pub h_ellipse: EstimatedHorizontalErrorEllipse,
pub confidence_and_geoid: u8,
pub n_sats: u8,
pub flags: u8,
}
Expand description
Geodetic Position and Accuracy
This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution as well as the estimated horizontal, vertical, cross-track and along-track errors. The position information and Fix Mode flags follow the MSG_POS_LLH message. Since the covariance matrix is computed in the local-level North, East, Down frame, the estimated error terms follow that convention.
The estimated errors are reported at a user-configurable confidence level. The user-configured percentile is encoded in the percentile field.
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
orthometric_height: f64
Height above the geoid (i.e. height above mean sea level). See confidence_and_geoid for geoid model used.
h_accuracy: f32
Estimated horizontal error at the user-configured confidence level; zero implies invalid.
v_accuracy: f32
Estimated vertical error at the user-configured confidence level; zero implies invalid.
ct_accuracy: f32
Estimated cross-track error at the user-configured confidence level; zero implies invalid.
at_accuracy: f32
Estimated along-track error at the user-configured confidence level; zero implies invalid.
h_ellipse: EstimatedHorizontalErrorEllipse
The estimated horizontal error ellipse at the user-configured confidence level.
confidence_and_geoid: u8
The lower bits describe the configured confidence level for the estimated position error. The middle bits describe the geoid model used to calculate the orthometric height.
n_sats: u8
Number of satellites used in solution.
flags: u8
Status flags
Implementations
sourceimpl MsgPosLlhAcc
impl MsgPosLlhAcc
sourcepub fn geoid_model(&self) -> Result<GeoidModel, u8>
pub fn geoid_model(&self) -> Result<GeoidModel, u8>
Gets the GeoidModel stored in the confidence_and_geoid
bitfield.
Returns Ok
if the bitrange contains a known GeoidModel
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 GeoidModel
were added.
sourcepub fn set_geoid_model(&mut self, geoid_model: GeoidModel)
pub fn set_geoid_model(&mut self, geoid_model: GeoidModel)
Set the bitrange corresponding to the GeoidModel of the confidence_and_geoid
bitfield.
sourcepub fn confidence_level(&self) -> Result<ConfidenceLevel, u8>
pub fn confidence_level(&self) -> Result<ConfidenceLevel, u8>
Gets the ConfidenceLevel stored in the confidence_and_geoid
bitfield.
Returns Ok
if the bitrange contains a known ConfidenceLevel
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 ConfidenceLevel
were added.
sourcepub fn set_confidence_level(&mut self, confidence_level: ConfidenceLevel)
pub fn set_confidence_level(&mut self, confidence_level: ConfidenceLevel)
Set the bitrange corresponding to the ConfidenceLevel of the confidence_and_geoid
bitfield.
sourcepub fn type_of_reported_tow(&self) -> Result<TypeOfReportedTow, u8>
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.
sourcepub fn set_type_of_reported_tow(
&mut self,
type_of_reported_tow: TypeOfReportedTow
)
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.
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.
Set the bitrange corresponding to the InertialNavigationMode of the flags
bitfield.
sourcepub fn fix_mode(&self) -> Result<FixMode, u8>
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.
sourcepub fn set_fix_mode(&mut self, fix_mode: FixMode)
pub fn set_fix_mode(&mut self, fix_mode: FixMode)
Set the bitrange corresponding to the FixMode of the flags
bitfield.
Trait Implementations
sourceimpl Clone for MsgPosLlhAcc
impl Clone for MsgPosLlhAcc
sourcefn clone(&self) -> MsgPosLlhAcc
fn clone(&self) -> MsgPosLlhAcc
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl ConcreteMessage for MsgPosLlhAcc
impl ConcreteMessage for MsgPosLlhAcc
sourceconst MESSAGE_TYPE: u16 = 536u16
const MESSAGE_TYPE: u16 = 536u16
The message type.
sourceconst MESSAGE_NAME: &'static str = "MSG_POS_LLH_ACC"
const MESSAGE_NAME: &'static str = "MSG_POS_LLH_ACC"
The message name.
sourceimpl Debug for MsgPosLlhAcc
impl Debug for MsgPosLlhAcc
sourceimpl From<MsgPosLlhAcc> for Sbp
impl From<MsgPosLlhAcc> for Sbp
sourcefn from(msg: MsgPosLlhAcc) -> Self
fn from(msg: MsgPosLlhAcc) -> Self
Converts to this type from the input type.
sourceimpl SbpMessage for MsgPosLlhAcc
impl SbpMessage for MsgPosLlhAcc
sourcefn message_name(&self) -> &'static str
fn message_name(&self) -> &'static str
Get the message name.
sourcefn message_type(&self) -> u16
fn message_type(&self) -> u16
Get the message type.
sourcefn set_sender_id(&mut self, new_id: u16)
fn set_sender_id(&mut self, new_id: u16)
Set the sender id.
sourcefn encoded_len(&self) -> usize
fn encoded_len(&self) -> usize
Number of bytes this message will take on the wire.
Auto Trait Implementations
impl RefUnwindSafe for MsgPosLlhAcc
impl Send for MsgPosLlhAcc
impl Sync for MsgPosLlhAcc
impl Unpin for MsgPosLlhAcc
impl UnwindSafe for MsgPosLlhAcc
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more