Detailed Description

Raw (uncorrected) heading sensor measurement output (MessageType::RAW_HEADING_OUTPUT, version 1.0).

This message contains raw heading sensor measurements that have not been corrected for mounting angle biases.

Definition at line 1142 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::RawHeadingOutput:

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

Public Attributes
float	baseline_distance_m = NAN
	The estimated distance between primary and secondary antennas (in meters). More...

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

float	position_std_enu_m [3] = {NAN, NAN, NAN}
	The position standard deviation (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...

Static Public Attributes
static constexpr MessageType	MESSAGE_TYPE = MessageType::RAW_HEADING_OUTPUT

static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

◆ baseline_distance_m

float point_one::fusion_engine::messages::RawHeadingOutput::baseline_distance_m = NAN

The estimated distance between primary and secondary antennas (in meters).

Definition at line 1193 of file measurements.h.

◆ details

MeasurementDetails point_one::fusion_engine::messages::RawHeadingOutput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 1150 of file measurements.h.

◆ flags

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

A bitmask of flags associated with the solution.

Definition at line 1161 of file measurements.h.

◆ heading_true_north_deg

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

The measured 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 1188 of file measurements.h.

◆ MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::RawHeadingOutput::MESSAGE_TYPE = MessageType::RAW_HEADING_OUTPUT

staticconstexpr

Definition at line 1143 of file measurements.h.

◆ MESSAGE_VERSION

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

staticconstexpr

Definition at line 1144 of file measurements.h.

◆ position_std_enu_m

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

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

Definition at line 1179 of file measurements.h.

◆ relative_position_enu_m

float point_one::fusion_engine::messages::RawHeadingOutput::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 1173 of file measurements.h.

◆ solution_type

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

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

Definition at line 1156 of file measurements.h.

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

src/point_one/fusion_engine/messages/measurements.h