point_one::fusion_engine::messages::HeadingOutput Struct Reference

Detailed Description

Heading sensor measurement output (MessageType::HEADING_OUTPUT, version 1.0).

The HeadingOutput message behaves similarly to the RawHeadingOutput, however, if no biases have been set AND the message is enabled, then the message will not be published.

See also RawHeadingOutput and SolutionType::Invalid.

Definition at line 1207 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::HeadingOutput:

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

Public Attributes
MeasurementDetails	details
	Measurement timestamp and additional information, if available. More...
uint32_t	flags = 0
	A bitmask of flags associated with the solution. More...
float	heading_true_north_deg = NAN
	The corrected heading angle (in degrees) with respect to true north, pointing from the primary antenna to the secondary antenna. More...
SolutionType	solution_type = SolutionType::Invalid
	Set to SolutionType::RTKFixed when heading is available, or SolutionType::Invalid otherwise. More...
float	ypr_deg [3] = {NAN, NAN, NAN}
	The measured YPR vector (in degrees), resolved in the ENU frame. More...

Static Public Attributes
static constexpr MessageType	MESSAGE_TYPE = MessageType::HEADING_OUTPUT
static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

details

MeasurementDetails point_one::fusion_engine::messages::HeadingOutput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 1215 of file measurements.h.

flags

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

A bitmask of flags associated with the solution.

Definition at line 1226 of file measurements.h.

heading_true_north_deg

float point_one::fusion_engine::messages::HeadingOutput::heading_true_north_deg = NAN

The corrected heading angle (in degrees) with respect to true north, pointing from the primary antenna to the secondary antenna.

Note

Reported in the range [0, 360).

Definition at line 1251 of file measurements.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::HeadingOutput::MESSAGE_TYPE = MessageType::HEADING_OUTPUT

staticconstexpr

Definition at line 1208 of file measurements.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 1209 of file measurements.h.

solution_type

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

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

Definition at line 1221 of file measurements.h.

ypr_deg

float point_one::fusion_engine::messages::HeadingOutput::ypr_deg[3] = {NAN, NAN, NAN}

The measured YPR vector (in degrees), resolved in the ENU frame.

YPR is defined as an intrinsic Euler-321 rotation, i.e., yaw, pitch, then roll.

Note

This field contains the measured attitude information (RawHeadingOutput) from a secondary heading device after applying ConfigType::HEADING_BIAS configuration settings for yaw (horizontal) and pitch (vertical) offsets between the primary and secondary GNSS antennas. If either bias value is not specified, the corresponding measurement values will be set to NAN.

Definition at line 1242 of file measurements.h.

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

• src/point_one/fusion_engine/messages/measurements.h