Struct sbp::messages::vehicle::msg_odometry::MsgOdometry

pub struct MsgOdometry {
    pub sender_id: Option<u16>,
    pub tow: u32,
    pub velocity: i32,
    pub flags: u8,
}

Vehicle forward (x-axis) velocity

Message representing the x component of vehicle velocity in the user frame at the odometry reference point(s) specified by the user. The offset for the odometry reference point and the definition and origin of the user frame are defined through the device settings interface. There are 4 possible user-defined sources of this message which are labeled arbitrarily source 0 through 3. If using “processor time” time tags, the receiving end will expect a MSG_GNSS_TIME_OFFSET when a PVT fix becomes available to synchronise odometry measurements with GNSS. Processor time shall roll over to zero after one week.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

Time field representing either milliseconds in the GPS Week or local CPU time from the producing system in milliseconds. See the tow_source flag for the exact source of this timestamp.

velocity: i32

The signed forward component of vehicle velocity.

flags: u8

Status flags

Implementations

impl MsgOdometry

pub fn vehicle_metadata(&self) -> Result<VehicleMetadata, u8>

Gets the VehicleMetadata stored in the flags bitfield.

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

pub fn set_vehicle_metadata(&mut self, vehicle_metadata: VehicleMetadata)

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

pub fn velocity_source(&self) -> Result<VelocitySource, u8>

Gets the VelocitySource stored in the flags bitfield.

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

pub fn set_velocity_source(&mut self, velocity_source: VelocitySource)

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

pub fn time_source(&self) -> Result<TimeSource, u8>

Gets the TimeSource stored in the flags bitfield.

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

pub fn set_time_source(&mut self, time_source: TimeSource)

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

Trait Implementations

impl Clone for MsgOdometry

fn clone(&self) -> MsgOdometry

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgOdometry

const MESSAGE_TYPE: u16 = 2_307u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_ODOMETRY"

The message name.

impl Debug for MsgOdometry

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

Formats the value using the given formatter.

impl From<MsgOdometry> for Sbp

fn from(msg: MsgOdometry) -> Self

Converts to this type from the input type.

impl SbpMessage for MsgOdometry

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 MsgOdometry

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.