Struct sbp::messages::navigation::msg_pos_llh_cov::MsgPosLlhCov

pub struct MsgPosLlhCov {

    pub sender_id: Option<u16>,
    pub tow: u32,
    pub lat: f64,
    pub lon: f64,
    pub height: f64,
    pub cov_n_n: f32,
    pub cov_n_e: f32,
    pub cov_n_d: f32,
    pub cov_e_e: f32,
    pub cov_e_d: f32,
    pub cov_d_d: f32,
    pub n_sats: u8,
    pub flags: u8,
}

Geodetic Position with Covariances

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 upper triangle of the 3x3 covariance matrix. 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 covariance terms follow that convention. Thus, covariances are reported against the “downward” measurement and care should be taken with the sign convention.

The values in this message are from GNSS measurements fused with inertial measurements. To get values from GNSS measurements only use MSG_POS_LLH_COV_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

cov_n_n: f32

Estimated variance of northing

cov_n_e: f32

Covariance of northing and easting

cov_n_d: f32

Covariance of northing and downward measurement

cov_e_e: f32

Estimated variance of easting

cov_e_d: f32

Covariance of easting and downward measurement

cov_d_d: f32

Estimated variance of downward measurement

n_sats: u8

Number of satellites used in solution.

flags: u8

Status flags

Implementations

impl MsgPosLlhCov

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 MsgPosLlhCov

fn clone(&self) -> MsgPosLlhCov

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgPosLlhCov

const MESSAGE_TYPE: u16 = 529u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_POS_LLH_COV"

The message name.

impl Debug for MsgPosLlhCov

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MsgPosLlhCov

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl FriendlyName for MsgPosLlhCov

fn friendly_name() -> &'static str

impl From<MsgPosLlhCov> for Sbp

fn from(msg: MsgPosLlhCov) -> Self

Converts to this type from the input type.

impl PartialEq for MsgPosLlhCov

fn eq(&self, other: &MsgPosLlhCov) -> 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 MsgPosLlhCov

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 MsgPosLlhCov

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 MsgPosLlhCov

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 MsgPosLlhCov