Struct sbp::messages::imu::msg_imu_raw::MsgImuRaw

pub struct MsgImuRaw {
    pub sender_id: Option<u16>,
    pub tow: u32,
    pub tow_f: u8,
    pub acc_x: i16,
    pub acc_y: i16,
    pub acc_z: i16,
    pub gyr_x: i16,
    pub gyr_y: i16,
    pub gyr_z: i16,
}

Raw IMU data

Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, are communicated via the MSG_IMU_AUX message. If using “time since startup” local time tags, the receiving end will expect either a MSG_GNSS_TIME_OFFSET or MSG_PPS_TIME to establish the relationship between IMU time and GNSS time. Regardless of the timestamping mode, the timestamp is required to roll over to zero when reaching one week (604800 seconds, or 604800000 milliseconds). The time-tagging mode should not change throughout a run.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

Milliseconds since reference epoch and time status.

tow_f: u8

Milliseconds since reference epoch, fractional part

acc_x: i16

Acceleration in the IMU frame X axis

acc_y: i16

Acceleration in the IMU frame Y axis

acc_z: i16

Acceleration in the IMU frame Z axis

gyr_x: i16

Angular rate around IMU frame X axis

gyr_y: i16

Angular rate around IMU frame Y axis

gyr_z: i16

Angular rate around IMU frame Z axis

Implementations

impl MsgImuRaw

pub fn time_status(&self) -> Result<TimeStatus, u8>

Gets the TimeStatus stored in the tow 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.

pub fn set_time_status(&mut self, time_status: TimeStatus)

Set the bitrange corresponding to the TimeStatus of the tow bitfield.

pub fn time_since_reference_epoch_in_milliseconds(&self) -> u32

Gets the time_since_reference_epoch_in_milliseconds stored in tow.

pub fn set_time_since_reference_epoch_in_milliseconds( &mut self, time_since_reference_epoch_in_milliseconds: u32 )

Sets the time_since_reference_epoch_in_milliseconds bitrange of tow.

Trait Implementations

impl Clone for MsgImuRaw

fn clone(&self) -> MsgImuRaw

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgImuRaw

const MESSAGE_TYPE: u16 = 2_304u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_IMU_RAW"

The message name.

impl Debug for MsgImuRaw

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MsgImuRaw

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl FriendlyName for MsgImuRaw

fn friendly_name() -> &'static str

impl From<MsgImuRaw> for Sbp

fn from(msg: MsgImuRaw) -> Self

Converts to this type from the input type.

impl PartialEq for MsgImuRaw

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

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 MsgImuRaw

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 MsgImuRaw

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 MsgImuRaw