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§
source§impl 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§
source§impl Clone for MsgSolnMeta
impl Clone for MsgSolnMeta
source§fn clone(&self) -> MsgSolnMeta
fn clone(&self) -> MsgSolnMeta
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl ConcreteMessage for MsgSolnMeta
impl ConcreteMessage for MsgSolnMeta
source§const MESSAGE_TYPE: u16 = 65_294u16
const MESSAGE_TYPE: u16 = 65_294u16
source§const MESSAGE_NAME: &'static str = "MSG_SOLN_META"
const MESSAGE_NAME: &'static str = "MSG_SOLN_META"
source§impl Debug for MsgSolnMeta
impl Debug for MsgSolnMeta
source§impl<'de> Deserialize<'de> for MsgSolnMeta
impl<'de> Deserialize<'de> for MsgSolnMeta
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 MsgSolnMeta
impl FriendlyName for MsgSolnMeta
fn friendly_name() -> &'static str
source§impl From<MsgSolnMeta> for Sbp
impl From<MsgSolnMeta> for Sbp
source§fn from(msg: MsgSolnMeta) -> Self
fn from(msg: MsgSolnMeta) -> Self
source§impl PartialEq for MsgSolnMeta
impl PartialEq for MsgSolnMeta
source§fn eq(&self, other: &MsgSolnMeta) -> bool
fn eq(&self, other: &MsgSolnMeta) -> bool
self
and other
values to be equal, and is used
by ==
.