Struct sbp::messages::system::msg_pps_time::MsgPpsTime

pub struct MsgPpsTime {
    pub sender_id: Option<u16>,
    pub time: u64,
    pub flags: u8,
}

Local time at detection of PPS pulse

The PPS time message contains the value of the sender’s local time in microseconds at the moment a pulse is detected on the PPS input. This is to be used for syncronisation of sensor data sampled with a local timestamp (e.g. IMU or wheeltick messages) where GNSS time is unknown to the sender.

The local time used to timestamp the PPS pulse must be generated by the same clock which is used to timestamp the IMU/wheel sensor data and should follow the same roll-over rules. A separate MSG_PPS_TIME message should be sent for each source of sensor data which uses PPS-relative timestamping. The sender ID for each of these MSG_PPS_TIME messages should match the sender ID of the respective sensor data.

Fields

sender_id: Option<u16>

The message sender_id

time: u64

Local time in microseconds

flags: u8

Status flags

Implementations

impl MsgPpsTime

pub fn reserved_set_to_zero(&self) -> u8

Gets the reserved_set_to_zero stored in flags.

pub fn set_reserved_set_to_zero(&mut self, reserved_set_to_zero: u8)

Sets the reserved_set_to_zero bitrange of flags.

pub fn time_uncertainty(&self) -> Result<TimeUncertainty, u8>

Gets the TimeUncertainty stored in the flags bitfield.

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

pub fn set_time_uncertainty(&mut self, time_uncertainty: TimeUncertainty)

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

Trait Implementations

impl Clone for MsgPpsTime

fn clone(&self) -> MsgPpsTime

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgPpsTime

const MESSAGE_TYPE: u16 = 65_288u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_PPS_TIME"

The message name.

impl Debug for MsgPpsTime

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

Formats the value using the given formatter.

impl From<MsgPpsTime> for Sbp

fn from(msg: MsgPpsTime) -> Self

Converts to this type from the input type.

impl SbpMessage for MsgPpsTime

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 MsgPpsTime

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.