Detailed Description

Heading sensor measurement output with heading bias corrections applied (MessageType::HEADING_OUTPUT, version 1.0).

This message is an output from the device contaning heading sensor measurements after applying user-specified horizontal and vertical bias corrections to account for the orientation of the primary and secondary GNSS antennas.

See also RawHeadingOutput.

Definition at line 1144 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 heading angle (in degrees) with respect to true north, pointing from the primary antenna to the secondary antenna, after applying bias corrections. 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 1152 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 1163 of file measurements.h.

◆ heading_true_north_deg

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

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

Note: Reported in the range [0, 360).

Definition at line 1189 of file measurements.h.

◆ MESSAGE_TYPE

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

staticconstexpr

Definition at line 1145 of file measurements.h.

◆ MESSAGE_VERSION

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

staticconstexpr

Definition at line 1146 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 1158 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 1179 of file measurements.h.

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

src/point_one/fusion_engine/messages/measurements.h