Struct sbp::messages::navigation::msg_pos_llh_acc::MsgPosLlhAcc

pub struct MsgPosLlhAcc {

    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,
}

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.

The values in this message are from GNSS measurements fused with inertial measurements.

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

impl MsgPosLlhAcc

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.

pub fn set_geoid_model(&mut self, geoid_model: GeoidModel)

Set the bitrange corresponding to the GeoidModel of the confidence_and_geoid bitfield.

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.

pub fn set_confidence_level(&mut self, confidence_level: ConfidenceLevel)

Set the bitrange corresponding to the ConfidenceLevel of the confidence_and_geoid 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 inertial_navigation_mode(&self) -> Result<InertialNavigationMode, u8>

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.

pub fn set_inertial_navigation_mode( &mut self, inertial_navigation_mode: InertialNavigationMode )

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

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.

pub fn set_fix_mode(&mut self, fix_mode: FixMode)

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

Trait Implementations

impl Clone for MsgPosLlhAcc

fn clone(&self) -> MsgPosLlhAcc

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgPosLlhAcc

const MESSAGE_TYPE: u16 = 536u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_POS_LLH_ACC"

The message name.

impl Debug for MsgPosLlhAcc

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MsgPosLlhAcc

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl FriendlyName for MsgPosLlhAcc

fn friendly_name() -> &'static str

impl From<MsgPosLlhAcc> for Sbp

fn from(msg: MsgPosLlhAcc) -> Self

Converts to this type from the input type.

impl PartialEq for MsgPosLlhAcc

fn eq(&self, other: &MsgPosLlhAcc) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SbpMessage for MsgPosLlhAcc

fn message_name(&self) -> &'static str

Get the message name.

fn message_type(&self) -> Option<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.

fn is_valid(&self) -> bool

Tells you if the message is valid or if it is not a valid message and may need to be special cased at certain points.

fn into_valid_msg(self) -> Result<Self, Invalid>

fn gps_time(&self) -> Option<Result<MessageTime, GpsTimeError>>

Get the GPS time associated with the message.

fn friendly_name(&self) -> &'static str

Get friendly name associated with the message.

impl Serialize for MsgPosLlhAcc

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TryFrom<Sbp> for MsgPosLlhAcc

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.

impl StructuralPartialEq for MsgPosLlhAcc