Struct sbp::messages::navigation::msg_vel_ned_cov_gnss::MsgVelNedCovGnss
source · pub struct MsgVelNedCovGnss {}
Expand description
GNSS-only Velocity in NED with Covariances
This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME_GNSS with the matching time-of-week (tow). This message is similar to the MSG_VEL_NED_GNSS, but it includes the upper triangular portion of the 3x3 covariance matrix.
The values in this message are from GNSS measurements only. To get values fused with inertial measurements use MSG_VEL_NED_COV.
Fields§
§sender_id: Option<u16>
The message sender_id
tow: u32
GPS Time of Week
n: i32
Velocity North coordinate
e: i32
Velocity East coordinate
d: i32
Velocity Down coordinate
cov_n_n: f32
Estimated variance of northward measurement
cov_n_e: f32
Covariance of northward and eastward measurement
cov_n_d: f32
Covariance of northward and downward measurement
cov_e_e: f32
Estimated variance of eastward measurement
cov_e_d: f32
Covariance of eastward 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 MsgVelNedCovGnss
impl MsgVelNedCovGnss
sourcepub fn velocity_mode(&self) -> Result<VelocityMode, u8>
pub fn velocity_mode(&self) -> Result<VelocityMode, u8>
Gets the VelocityMode stored in the flags
bitfield.
Returns Ok
if the bitrange contains a known VelocityMode
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 VelocityMode
were added.
sourcepub fn set_velocity_mode(&mut self, velocity_mode: VelocityMode)
pub fn set_velocity_mode(&mut self, velocity_mode: VelocityMode)
Set the bitrange corresponding to the VelocityMode of the flags
bitfield.
Trait Implementations§
source§impl Clone for MsgVelNedCovGnss
impl Clone for MsgVelNedCovGnss
source§fn clone(&self) -> MsgVelNedCovGnss
fn clone(&self) -> MsgVelNedCovGnss
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl ConcreteMessage for MsgVelNedCovGnss
impl ConcreteMessage for MsgVelNedCovGnss
source§const MESSAGE_TYPE: u16 = 562u16
const MESSAGE_TYPE: u16 = 562u16
source§const MESSAGE_NAME: &'static str = "MSG_VEL_NED_COV_GNSS"
const MESSAGE_NAME: &'static str = "MSG_VEL_NED_COV_GNSS"
source§impl Debug for MsgVelNedCovGnss
impl Debug for MsgVelNedCovGnss
source§impl<'de> Deserialize<'de> for MsgVelNedCovGnss
impl<'de> Deserialize<'de> for MsgVelNedCovGnss
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 MsgVelNedCovGnss
impl FriendlyName for MsgVelNedCovGnss
fn friendly_name() -> &'static str
source§impl From<MsgVelNedCovGnss> for Sbp
impl From<MsgVelNedCovGnss> for Sbp
source§fn from(msg: MsgVelNedCovGnss) -> Self
fn from(msg: MsgVelNedCovGnss) -> Self
source§impl PartialEq for MsgVelNedCovGnss
impl PartialEq for MsgVelNedCovGnss
source§fn eq(&self, other: &MsgVelNedCovGnss) -> bool
fn eq(&self, other: &MsgVelNedCovGnss) -> bool
self
and other
values to be equal, and is used
by ==
.