Struct sbp::messages::navigation::msg_vel_body::MsgVelBody
source · pub struct MsgVelBody {}
Expand description
Velocity in User Frame
This message reports the velocity in the Vehicle Body Frame. By convention, the x-axis should point out the nose of the vehicle and represent the forward direction, while as the y-axis should point out the right hand side of the vehicle. Since this is a right handed system, z should point out the bottom of the vehicle. The orientation and origin of the Vehicle Body Frame are specified via the device settings. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is only produced by inertial versions of Swift products and is not available from Piksi Multi or Duro.
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
x: i32
Velocity in x direction
y: i32
Velocity in y direction
z: i32
Velocity in z direction
cov_x_x: f32
Estimated variance of x
cov_x_y: f32
Covariance of x and y
cov_x_z: f32
Covariance of x and z
cov_y_y: f32
Estimated variance of y
cov_y_z: f32
Covariance of y and z
cov_z_z: f32
Estimated variance of z
n_sats: u8
Number of satellites used in solution
flags: u8
Status flags
Implementations§
source§impl MsgVelBody
impl MsgVelBody
Gets the InsNavigationMode stored in the flags
bitfield.
Returns Ok
if the bitrange contains a known InsNavigationMode
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 InsNavigationMode
were added.
Set the bitrange corresponding to the InsNavigationMode of the flags
bitfield.
sourcepub fn velocity_mode(&self) -> Result<VelocityMode, u8>
pub fn velocity_mode(&self) -> Result<VelocityMode, u8>
Gets the VelocityMode stored in the flags
bitfield.
Returns Ok
if the bitrange contains a known VelocityMode
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 VelocityMode
were added.
sourcepub fn set_velocity_mode(&mut self, velocity_mode: VelocityMode)
pub fn set_velocity_mode(&mut self, velocity_mode: VelocityMode)
Set the bitrange corresponding to the VelocityMode of the flags
bitfield.
Trait Implementations§
source§impl Clone for MsgVelBody
impl Clone for MsgVelBody
source§fn clone(&self) -> MsgVelBody
fn clone(&self) -> MsgVelBody
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl ConcreteMessage for MsgVelBody
impl ConcreteMessage for MsgVelBody
source§const MESSAGE_TYPE: u16 = 531u16
const MESSAGE_TYPE: u16 = 531u16
source§const MESSAGE_NAME: &'static str = "MSG_VEL_BODY"
const MESSAGE_NAME: &'static str = "MSG_VEL_BODY"
source§impl Debug for MsgVelBody
impl Debug for MsgVelBody
source§impl<'de> Deserialize<'de> for MsgVelBody
impl<'de> Deserialize<'de> for MsgVelBody
source§fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
source§impl FriendlyName for MsgVelBody
impl FriendlyName for MsgVelBody
fn friendly_name() -> &'static str
source§impl From<MsgVelBody> for Sbp
impl From<MsgVelBody> for Sbp
source§fn from(msg: MsgVelBody) -> Self
fn from(msg: MsgVelBody) -> Self
source§impl PartialEq for MsgVelBody
impl PartialEq for MsgVelBody
source§fn eq(&self, other: &MsgVelBody) -> bool
fn eq(&self, other: &MsgVelBody) -> bool
self
and other
values to be equal, and is used
by ==
.