Struct sbp::messages::navigation::msg_vel_cog::MsgVelCog

pub struct MsgVelCog {
    pub sender_id: Option<u16>,
    pub tow: u32,
    pub cog: u32,
    pub sog: u32,
    pub v_up: i32,
    pub cog_accuracy: u32,
    pub sog_accuracy: u32,
    pub v_up_accuracy: u32,
    pub flags: u16,
}

Velocity expressed as course over ground

This message reports the receiver course over ground (COG) and speed over ground (SOG) based on the horizontal (N-E) components of the NED velocity vector. It also includes the vertical velocity coordinate. A flag is provided to indicate whether the COG value has been frozen. When the flag is set to true, the COG field is set to its last valid value until the system exceeds a minimum velocity threshold. No other fields are affected by this flag. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). Note: course over ground represents the receiver’s direction of travel, but not necessarily the device heading.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

GPS Time of Week

cog: u32

Course over ground relative to north direction

sog: u32

Speed over ground (based on horizontal velocity)

v_up: i32

Vertical velocity component (positive up)

cog_accuracy: u32

Course over ground estimated standard deviation

sog_accuracy: u32

Speed over ground estimated standard deviation

v_up_accuracy: u32

Vertical velocity estimated standard deviation

flags: u16

Status flags

Implementations

impl MsgVelCog

pub fn cog_frozen(&self) -> Result<CogFrozen, u8>

Gets the CogFrozen stored in the flags bitfield.

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

pub fn set_cog_frozen(&mut self, cog_frozen: CogFrozen)

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

pub fn vertical_velocity_validity(&self) -> Result<VerticalVelocityValidity, u8>

Gets the VerticalVelocityValidity stored in the flags bitfield.

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

pub fn set_vertical_velocity_validity(
    &mut self,
    vertical_velocity_validity: VerticalVelocityValidity
)

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

pub fn sog_validity(&self) -> Result<SogValidity, u8>

Gets the SogValidity stored in the flags bitfield.

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

pub fn set_sog_validity(&mut self, sog_validity: SogValidity)

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

pub fn cog_validity(&self) -> Result<CogValidity, u8>

Gets the CogValidity stored in the flags bitfield.

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

pub fn set_cog_validity(&mut self, cog_validity: CogValidity)

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

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 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 MsgVelCog

fn clone(&self) -> MsgVelCog

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgVelCog

const MESSAGE_TYPE: u16 = 540u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_VEL_COG"

The message name.

impl Debug for MsgVelCog

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

Formats the value using the given formatter.

impl From<MsgVelCog> for Sbp

fn from(msg: MsgVelCog) -> Self

Converts to this type from the input type.

impl SbpMessage for MsgVelCog

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 MsgVelCog

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.