Struct sbp::messages::solution_meta::msg_soln_meta::MsgSolnMeta
source · [−]pub struct MsgSolnMeta {
pub sender_id: Option<u16>,
pub tow: u32,
pub pdop: u16,
pub hdop: u16,
pub vdop: u16,
pub age_corrections: u16,
pub age_gnss: u32,
pub sol_in: Vec<SolutionInputType>,
}
Expand description
Solution Sensors Metadata
This message contains all metadata about the sensors received and/or used in computing the sensorfusion solution. It focuses primarily, but not only, on GNSS metadata. Regarding the age of the last received valid GNSS solution, the highest two bits are time status, indicating whether age gnss can or can not be used to retrieve time of measurement (noted TOM, also known as time of validity) If it can, subtract ‘age gnss’ from ‘tow’ in navigation messages to get TOM. Can be used before alignment is complete in the Fusion Engine, when output solution is the last received valid GNSS solution and its tow is not a TOM.
Fields
sender_id: Option<u16>
The message sender_id
tow: u32
GPS time of week rounded to the nearest millisecond
pdop: u16
Position Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)
hdop: u16
Horizontal Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)
vdop: u16
Vertical Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)
age_corrections: u16
Age of corrections as per last available AGE_CORRECTIONS from PVT engine (0xFFFF indicates invalid)
age_gnss: u32
Age and Time Status of the last received valid GNSS solution.
sol_in: Vec<SolutionInputType>
Array of Metadata describing the sensors potentially involved in the solution. Each element in the array represents a single sensor type and consists of flags containing (meta)data pertaining to that specific single sensor. Refer to each (XX)InputType descriptor in the present doc.
Implementations
sourceimpl MsgSolnMeta
impl MsgSolnMeta
sourcepub fn time_status(&self) -> Result<TimeStatus, u8>
pub fn time_status(&self) -> Result<TimeStatus, u8>
Gets the TimeStatus stored in the age_gnss
bitfield.
Returns Ok
if the bitrange contains a known TimeStatus
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 TimeStatus
were added.
sourcepub fn set_time_status(&mut self, time_status: TimeStatus)
pub fn set_time_status(&mut self, time_status: TimeStatus)
Set the bitrange corresponding to the TimeStatus of the age_gnss
bitfield.
sourcepub fn age_of_the_last_received_valid_gnss_solution(&self) -> u32
pub fn age_of_the_last_received_valid_gnss_solution(&self) -> u32
Gets the age_of_the_last_received_valid_gnss_solution
stored in age_gnss
.
sourcepub fn set_age_of_the_last_received_valid_gnss_solution(
&mut self,
age_of_the_last_received_valid_gnss_solution: u32
)
pub fn set_age_of_the_last_received_valid_gnss_solution(
&mut self,
age_of_the_last_received_valid_gnss_solution: u32
)
Sets the age_of_the_last_received_valid_gnss_solution
bitrange of age_gnss
.
Trait Implementations
sourceimpl Clone for MsgSolnMeta
impl Clone for MsgSolnMeta
sourcefn clone(&self) -> MsgSolnMeta
fn clone(&self) -> MsgSolnMeta
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl ConcreteMessage for MsgSolnMeta
impl ConcreteMessage for MsgSolnMeta
sourceconst MESSAGE_TYPE: u16
const MESSAGE_TYPE: u16
The message type.
sourceconst MESSAGE_NAME: &'static str
const MESSAGE_NAME: &'static str
The message name.
sourceimpl Debug for MsgSolnMeta
impl Debug for MsgSolnMeta
sourceimpl From<MsgSolnMeta> for Sbp
impl From<MsgSolnMeta> for Sbp
sourcefn from(msg: MsgSolnMeta) -> Self
fn from(msg: MsgSolnMeta) -> Self
Performs the conversion.
sourceimpl SbpMessage for MsgSolnMeta
impl SbpMessage for MsgSolnMeta
sourcefn message_name(&self) -> &'static str
fn message_name(&self) -> &'static str
Get the message name.
sourcefn message_type(&self) -> u16
fn message_type(&self) -> u16
Get the message type.
sourcefn set_sender_id(&mut self, new_id: u16)
fn set_sender_id(&mut self, new_id: u16)
Set the sender id.
sourcefn encoded_len(&self) -> usize
fn encoded_len(&self) -> usize
Number of bytes this message will take on the wire.
Auto Trait Implementations
impl RefUnwindSafe for MsgSolnMeta
impl Send for MsgSolnMeta
impl Sync for MsgSolnMeta
impl Unpin for MsgSolnMeta
impl UnwindSafe for MsgSolnMeta
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcepub fn borrow_mut(&mut self) -> &mut T
pub fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcepub fn to_owned(&self) -> T
pub fn to_owned(&self) -> T
Creates owned data from borrowed data, usually by cloning. Read more
sourcepub fn clone_into(&self, target: &mut T)
pub fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more