Struct sbp::messages::navigation::msg_vel_ned_cov_gnss::MsgVelNedCovGnss

pub struct MsgVelNedCovGnss {

    pub sender_id: Option<u16>,
    pub tow: u32,
    pub n: i32,
    pub e: i32,
    pub d: i32,
    pub cov_n_n: f32,
    pub cov_n_e: f32,
    pub cov_n_d: f32,
    pub cov_e_e: f32,
    pub cov_e_d: f32,
    pub cov_d_d: f32,
    pub n_sats: u8,
    pub flags: u8,
}

GNSS-only Velocity in NED

This message reports the velocity in local North East Down (NED) coordinates. 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). This message is similar to the MSG_VEL_NED, but it includes the upper triangular portion of the 3x3 covariance matrix.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

GPS Time of Week

n: i32

Velocity North coordinate

e: i32

Velocity East coordinate

d: i32

Velocity Down coordinate

cov_n_n: f32

Estimated variance of northward measurement

cov_n_e: f32

Covariance of northward and eastward measurement

cov_n_d: f32

Covariance of northward and downward measurement

cov_e_e: f32

Estimated variance of eastward measurement

cov_e_d: f32

Covariance of eastward and downward measurement

cov_d_d: f32

Estimated variance of downward measurement

n_sats: u8

Number of satellites used in solution

flags: u8

Status flags

Implementations

impl MsgVelNedCovGnss

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 MsgVelNedCovGnss

fn clone(&self) -> MsgVelNedCovGnss

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgVelNedCovGnss

const MESSAGE_TYPE: u16 = 562u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_VEL_NED_COV_GNSS"

The message name.

impl Debug for MsgVelNedCovGnss

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

Formats the value using the given formatter.

impl From<MsgVelNedCovGnss> for Sbp

fn from(msg: MsgVelNedCovGnss) -> Self

Converts to this type from the input type.

impl SbpMessage for MsgVelNedCovGnss

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 MsgVelNedCovGnss

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.