Struct sbp::messages::navigation::msg_pos_ecef_cov::MsgPosEcefCov

pub struct MsgPosEcefCov {

    pub sender_id: Option<u16>,
    pub tow: u32,
    pub x: f64,
    pub y: f64,
    pub z: f64,
    pub cov_x_x: f32,
    pub cov_x_y: f32,
    pub cov_x_z: f32,
    pub cov_y_y: f32,
    pub cov_y_z: f32,
    pub cov_z_z: f32,
    pub n_sats: u8,
    pub flags: u8,
}

Position in ECEF with Covariances

The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. The message also reports the upper triangular portion of the 3x3 covariance matrix. If the 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_ECEF_COV_GNSS.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

GPS Time of Week

x: f64

ECEF X coordinate

y: f64

ECEF Y coordinate

z: f64

ECEF Z coordinate

cov_x_x: f32

Estimated variance of x

cov_x_y: f32

Estimated covariance of x and y

cov_x_z: f32

Estimated covariance of x and z

cov_y_y: f32

Estimated variance of y

cov_y_z: f32

Estimated 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

impl MsgPosEcefCov

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 MsgPosEcefCov

fn clone(&self) -> MsgPosEcefCov

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgPosEcefCov

const MESSAGE_TYPE: u16 = 532u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_POS_ECEF_COV"

The message name.

impl Debug for MsgPosEcefCov

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MsgPosEcefCov

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl FriendlyName for MsgPosEcefCov

fn friendly_name() -> &'static str

impl From<MsgPosEcefCov> for Sbp

fn from(msg: MsgPosEcefCov) -> Self

Converts to this type from the input type.

impl PartialEq for MsgPosEcefCov

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

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 MsgPosEcefCov

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 MsgPosEcefCov

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 MsgPosEcefCov