Detailed Description

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

This message is an output from the device contaning raw heading sensor measurements that have not been corrected for mounting angle biases.

See also HeadingOutput.

Definition at line 1202 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 1253 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 1210 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 1221 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 1248 of file measurements.h.

◆ MESSAGE_TYPE

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

staticconstexpr

Definition at line 1203 of file measurements.h.

◆ MESSAGE_VERSION

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

staticconstexpr

Definition at line 1204 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 1239 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 1233 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 1216 of file measurements.h.

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

src/point_one/fusion_engine/messages/measurements.h