Struct sbp::messages::navigation::msg_pos_llh::MsgPosLlh
source · pub struct MsgPosLlh {
pub sender_id: Option<u16>,
pub tow: u32,
pub lat: f64,
pub lon: f64,
pub height: f64,
pub h_accuracy: u16,
pub v_accuracy: u16,
pub n_sats: u8,
pub flags: u8,
}
Expand description
Geodetic Position
This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover’s RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with inertial measurements. To get values from GNSS measurements only use MSG_POS_LLH_GNSS.
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
h_accuracy: u16
Horizontal position estimated standard deviation
v_accuracy: u16
Vertical position estimated standard deviation
n_sats: u8
Number of satellites used in solution.
flags: u8
Status flags
Implementations§
source§impl MsgPosLlh
impl MsgPosLlh
sourcepub fn type_of_reported_tow(&self) -> Result<TypeOfReportedTow, u8>
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.
sourcepub fn set_type_of_reported_tow(
&mut self,
type_of_reported_tow: TypeOfReportedTow
)
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.
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.
Set the bitrange corresponding to the InertialNavigationMode of the flags
bitfield.
sourcepub fn fix_mode(&self) -> Result<FixMode, u8>
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.
sourcepub fn set_fix_mode(&mut self, fix_mode: FixMode)
pub fn set_fix_mode(&mut self, fix_mode: FixMode)
Set the bitrange corresponding to the FixMode of the flags
bitfield.