Struct sbp::messages::navigation::msg_pos_ecef_gnss::MsgPosEcefGnss
source · pub struct MsgPosEcefGnss {
pub sender_id: Option<u16>,
pub tow: u32,
pub x: f64,
pub y: f64,
pub z: f64,
pub accuracy: u16,
pub n_sats: u8,
pub flags: u8,
}
Expand description
GNSS-only Position in ECEF
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. If the rover 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.
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
accuracy: u16
Position estimated standard deviation
n_sats: u8
Number of satellites used in solution
flags: u8
Status flags
Implementations§
source§impl MsgPosEcefGnss
impl MsgPosEcefGnss
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 MsgPosEcefGnss
impl Clone for MsgPosEcefGnss
source§fn clone(&self) -> MsgPosEcefGnss
fn clone(&self) -> MsgPosEcefGnss
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl ConcreteMessage for MsgPosEcefGnss
impl ConcreteMessage for MsgPosEcefGnss
source§const MESSAGE_TYPE: u16 = 553u16
const MESSAGE_TYPE: u16 = 553u16
source§const MESSAGE_NAME: &'static str = "MSG_POS_ECEF_GNSS"
const MESSAGE_NAME: &'static str = "MSG_POS_ECEF_GNSS"
source§impl Debug for MsgPosEcefGnss
impl Debug for MsgPosEcefGnss
source§impl<'de> Deserialize<'de> for MsgPosEcefGnss
impl<'de> Deserialize<'de> for MsgPosEcefGnss
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 MsgPosEcefGnss
impl FriendlyName for MsgPosEcefGnss
fn friendly_name() -> &'static str
source§impl From<MsgPosEcefGnss> for Sbp
impl From<MsgPosEcefGnss> for Sbp
source§fn from(msg: MsgPosEcefGnss) -> Self
fn from(msg: MsgPosEcefGnss) -> Self
source§impl PartialEq for MsgPosEcefGnss
impl PartialEq for MsgPosEcefGnss
source§fn eq(&self, other: &MsgPosEcefGnss) -> bool
fn eq(&self, other: &MsgPosEcefGnss) -> bool
self
and other
values to be equal, and is used
by ==
.