Detailed Description

Multi-antenna GNSS attitude sensor measurement output with offset corrections applied (MessageType::GNSS_ATTITUDE_OUTPUT, version 1.0).

This message is an output from the device contaning orientation measurements generated using multiple GNSS antennas/receivers. On supported devices, the device will measure vehicle yaw (heading) and pitch based on the relative positions of two GNSS antennas. When more than two antennas are present, the device may additionally measure roll angle.

Note: This message contains vehicle body angle measurements generated from GNSS measurements. These measurements inputs to the navigation engine, not the filtered output from engine. They may be less accurate than the vehicle body orientation estimate in PoseMessage.

The measurements in this message have user-specified corrections applied for the horizontal and vertical offsets between the two GNSS antennas. See also RawGNSSAttitudeOutput.

Definition at line 1162 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::GNSSAttitudeOutput:

#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...

float	baseline_distance_std_m = NAN
	The standard deviation of the baseline distance estimate (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...

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 vehicle body orientation (in degrees). More...

float	ypr_std_deg [3] = {NAN, NAN, NAN}
	The standard deviation of the orientation measurement (in degrees). More...

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

static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

◆ baseline_distance_m

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

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

Definition at line 1207 of file measurements.h.

◆ baseline_distance_std_m

float point_one::fusion_engine::messages::GNSSAttitudeOutput::baseline_distance_std_m = NAN

The standard deviation of the baseline distance estimate (in meters).

Definition at line 1212 of file measurements.h.

◆ details

MeasurementDetails point_one::fusion_engine::messages::GNSSAttitudeOutput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 1170 of file measurements.h.

◆ flags

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

A bitmask of flags associated with the solution.

Definition at line 1181 of file measurements.h.

◆ MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::GNSSAttitudeOutput::MESSAGE_TYPE = MessageType::GNSS_ATTITUDE_OUTPUT

staticconstexpr

Definition at line 1163 of file measurements.h.

◆ MESSAGE_VERSION

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

staticconstexpr

Definition at line 1164 of file measurements.h.

◆ solution_type

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

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

Definition at line 1176 of file measurements.h.

◆ ypr_deg

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

The measured vehicle body orientation (in degrees).

YPR is defined as an intrinsic Euler-321 rotation, i.e., yaw, pitch, then roll with respect to the local ENU tangent plane. See PoseMessage::ypr_deg for a complete rotation definition.

If any angles are not available, they will be set to NAN. For dual-antenna systems, the device will measure yaw and pitch, but not roll.

Note that yaw is measured from east in a counter-clockwise direction. For example, north is +90 degrees. Heading with respect to true north can be computed as heading = 90.0 - ypr_deg[0].

Definition at line 1197 of file measurements.h.

◆ ypr_std_deg

float point_one::fusion_engine::messages::GNSSAttitudeOutput::ypr_std_deg[3] = {NAN, NAN, NAN}

The standard deviation of the orientation measurement (in degrees).

Definition at line 1202 of file measurements.h.

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

src/point_one/fusion_engine/messages/measurements.h