Struct sbp::messages::navigation::msg_pos_ecef_cov_gnss::MsgPosEcefCovGnss
source · pub struct MsgPosEcefCovGnss {}
Expand description
GNSS-only 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_GNSS with the matching time-of-week (tow).
The values in this message are from GNSS measurements only. To get values fused with inertial measurements use MSG_POS_ECEF_COV.
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§
source§impl MsgPosEcefCovGnss
impl MsgPosEcefCovGnss
sourcepub fn fix_mode(&self) -> Result<FixMode, u8>
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.
sourcepub fn set_fix_mode(&mut self, fix_mode: FixMode)
pub fn set_fix_mode(&mut self, fix_mode: FixMode)
Set the bitrange corresponding to the FixMode of the flags
bitfield.
Trait Implementations§
source§impl Clone for MsgPosEcefCovGnss
impl Clone for MsgPosEcefCovGnss
source§fn clone(&self) -> MsgPosEcefCovGnss
fn clone(&self) -> MsgPosEcefCovGnss
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl ConcreteMessage for MsgPosEcefCovGnss
impl ConcreteMessage for MsgPosEcefCovGnss
source§const MESSAGE_TYPE: u16 = 564u16
const MESSAGE_TYPE: u16 = 564u16
source§const MESSAGE_NAME: &'static str = "MSG_POS_ECEF_COV_GNSS"
const MESSAGE_NAME: &'static str = "MSG_POS_ECEF_COV_GNSS"
source§impl Debug for MsgPosEcefCovGnss
impl Debug for MsgPosEcefCovGnss
source§impl<'de> Deserialize<'de> for MsgPosEcefCovGnss
impl<'de> Deserialize<'de> for MsgPosEcefCovGnss
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 MsgPosEcefCovGnss
impl FriendlyName for MsgPosEcefCovGnss
fn friendly_name() -> &'static str
source§impl From<MsgPosEcefCovGnss> for Sbp
impl From<MsgPosEcefCovGnss> for Sbp
source§fn from(msg: MsgPosEcefCovGnss) -> Self
fn from(msg: MsgPosEcefCovGnss) -> Self
source§impl PartialEq for MsgPosEcefCovGnss
impl PartialEq for MsgPosEcefCovGnss
source§fn eq(&self, other: &MsgPosEcefCovGnss) -> bool
fn eq(&self, other: &MsgPosEcefCovGnss) -> bool
self
and other
values to be equal, and is used
by ==
.