RawGNSSAttitudeOutput Struct

Raw (uncorrected) GNSS attitude sensor measurement output (MessageType::RAW_GNSS_ATTITUDE_OUTPUT, version 1). More...

Declaration

struct point_one::fusion_engine::messages::RawGNSSAttitudeOutput { ... }

Included Headers

#include <point_one/fusion_engine/messages/measurements.h>

Base struct

struct	MessagePayload
	The base class for all message payloads. More...

Public Member Attributes Index

MeasurementDetails	details
	Measurement timestamp and additional information, if available. More...
uint32_t	flags = 0
	A bitmask of flags associated with the solution. More...
float	position_std_enu_m[3] = {NAN, NAN, NAN}
	The standard deviation of the relative position vector (in meters), resolved with respect to the local ENU tangent plane: east, north, up. More...
float	relative_position_enu_m[3] = {NAN, NAN, NAN}
	The position of the secondary GNSS antenna relative to the primary antenna (in meters), resolved with respect to the local ENU tangent plane: east, north, up. More...
SolutionType	solution_type = SolutionType::Invalid
	Set to SolutionType::RTKFixed when heading is available, or SolutionType::Invalid otherwise. More...

Public Static Attributes Index

static constexpr MessageType	MESSAGE_TYPE = ...
static constexpr uint8_t	MESSAGE_VERSION = 0

Description

Raw (uncorrected) GNSS attitude sensor measurement output (MessageType::RAW_GNSS_ATTITUDE_OUTPUT, version 1).

This message is an output from the device contaning raw orientation measurements generated using multiple GNSS antennas/receivers that have not been corrected for horizontal/vertical offsets between the antennas. Here, orientation is represented as the vector from a primary GNSS antenna to a secondary GNSS antenna.

For vehicle body angle measurements, and for measurements corrected for horizontal/vertical offsets, see GNSSAttitudeOutput.

Definition at line 1226 of file measurements.h.

Public Member Attributes

details

MeasurementDetails point_one::fusion_engine::messages::RawGNSSAttitudeOutput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 1235 of file measurements.h.

1235 MeasurementDetails details;

flags

uint32_t point_one::fusion_engine::messages::RawGNSSAttitudeOutput::flags = 0

A bitmask of flags associated with the solution.

Definition at line 1246 of file measurements.h.

1246 uint32_t flags = 0;

position_std_enu_m

float point_one::fusion_engine::messages::RawGNSSAttitudeOutput::position_std_enu_m[3] = {NAN, NAN, NAN}

The standard deviation of the relative position vector (in meters), resolved with respect to the local ENU tangent plane: east, north, up.

Definition at line 1264 of file measurements.h.

1264 float position_std_enu_m[3] = {NAN, NAN, NAN};

relative_position_enu_m

float point_one::fusion_engine::messages::RawGNSSAttitudeOutput::relative_position_enu_m[3] = {NAN, NAN, NAN}

The position of the secondary GNSS antenna relative to the primary antenna (in meters), resolved with respect to the local ENU tangent plane: east, north, up.

Position is measured with respect to the primary antenna as follows:

\[
\Delta r_{ENU} = C^{ENU}_{ECEF} (r_{Secondary, ECEF} - r_{Primary, ECEF})
\]

Definition at line 1258 of file measurements.h.

1258 float relative_position_enu_m[3] = {NAN, NAN, NAN};

solution_type

SolutionType point_one::fusion_engine::messages::RawGNSSAttitudeOutput::solution_type = SolutionType::Invalid

Set to SolutionType::RTKFixed when heading is available, or SolutionType::Invalid otherwise.

Definition at line 1241 of file measurements.h.

1241 SolutionType solution_type = SolutionType::Invalid;

Public Static Attributes

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::RawGNSSAttitudeOutput::MESSAGE_TYPE

constexpr static

Initialiser

= MessageType::RAW_GNSS_ATTITUDE_OUTPUT

Definition at line 1227 of file measurements.h.

1227 static constexpr MessageType MESSAGE_TYPE =

MESSAGE_VERSION

constexpr uint8_t point_one::fusion_engine::messages::RawGNSSAttitudeOutput::MESSAGE_VERSION = 0

constexpr static

Definition at line 1229 of file measurements.h.

1229 static constexpr uint8_t MESSAGE_VERSION = 0;

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The documentation for this struct was generated from the following file:

• measurements.h

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