Struct sbp::messages::navigation::msg_pos_llh_cov_gnss::MsgPosLlhCovGnss
source · pub struct MsgPosLlhCovGnss {}
Expand description
GNSS-only Geodetic Position with Covariances
This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution as well as the upper triangle of the 3x3 covariance matrix. The position information and Fix Mode flags should follow the MSG_POS_LLH_GNSS message. Since the covariance matrix is computed in the local-level North, East, Down frame, the covariance terms follow with that convention. Thus, covariances are reported against the “downward” measurement and care should be taken with the sign convention.
The values in this message are from GNSS measurements only. To get values fused with inertial measurements use MSG_POS_LLH_COV.
Fields§
§sender_id: Option<u16>
The message sender_id
tow: u32
GPS Time of Week
lat: f64
Latitude
lon: f64
Longitude
height: f64
Height above WGS84 ellipsoid
cov_n_n: f32
Estimated variance of northing
cov_n_e: f32
Covariance of northing and easting
cov_n_d: f32
Covariance of northing and downward measurement
cov_e_e: f32
Estimated variance of easting
cov_e_d: f32
Covariance of easting and downward measurement
cov_d_d: f32
Estimated variance of downward measurement
n_sats: u8
Number of satellites used in solution.
flags: u8
Status flags
Implementations§
source§impl MsgPosLlhCovGnss
impl MsgPosLlhCovGnss
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 MsgPosLlhCovGnss
impl Clone for MsgPosLlhCovGnss
source§fn clone(&self) -> MsgPosLlhCovGnss
fn clone(&self) -> MsgPosLlhCovGnss
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl ConcreteMessage for MsgPosLlhCovGnss
impl ConcreteMessage for MsgPosLlhCovGnss
source§const MESSAGE_TYPE: u16 = 561u16
const MESSAGE_TYPE: u16 = 561u16
source§const MESSAGE_NAME: &'static str = "MSG_POS_LLH_COV_GNSS"
const MESSAGE_NAME: &'static str = "MSG_POS_LLH_COV_GNSS"
source§impl Debug for MsgPosLlhCovGnss
impl Debug for MsgPosLlhCovGnss
source§impl<'de> Deserialize<'de> for MsgPosLlhCovGnss
impl<'de> Deserialize<'de> for MsgPosLlhCovGnss
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 MsgPosLlhCovGnss
impl FriendlyName for MsgPosLlhCovGnss
fn friendly_name() -> &'static str
source§impl From<MsgPosLlhCovGnss> for Sbp
impl From<MsgPosLlhCovGnss> for Sbp
source§fn from(msg: MsgPosLlhCovGnss) -> Self
fn from(msg: MsgPosLlhCovGnss) -> Self
source§impl PartialEq for MsgPosLlhCovGnss
impl PartialEq for MsgPosLlhCovGnss
source§fn eq(&self, other: &MsgPosLlhCovGnss) -> bool
fn eq(&self, other: &MsgPosLlhCovGnss) -> bool
self
and other
values to be equal, and is used
by ==
.