Detailed Description

Raw (uncorrected) GNSS attitude sensor measurement output (MessageType::RAW_GNSS_ATTITUDE_OUTPUT, version 1.0).

This message is an output from the device contaning raw orientation measurements generated using multiple GNSS antennas/receivers that have not been corrected for horizontal/vertical offsets between the antennas. Here, orientation is represented as the vector from a primary GNSS antenna to a secondary GNSS antenna.

For vehicle body angle measurements, and for measurements corrected for horizontal/vertical offsets, see GNSSAttitudeOutput.

Definition at line 1229 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::RawGNSSAttitudeOutput:

#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	position_std_enu_m [3] = {NAN, NAN, NAN}
	The standard deviation of the relative position vector (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

static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

◆ details

MeasurementDetails point_one::fusion_engine::messages::RawGNSSAttitudeOutput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 1238 of file measurements.h.

◆ flags

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

A bitmask of flags associated with the solution.

Definition at line 1249 of file measurements.h.

◆ MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::RawGNSSAttitudeOutput::MESSAGE_TYPE

staticconstexpr

Initial value:

=

MessageType::RAW_GNSS_ATTITUDE_OUTPUT

Definition at line 1230 of file measurements.h.

◆ MESSAGE_VERSION

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

staticconstexpr

Definition at line 1232 of file measurements.h.

◆ position_std_enu_m

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

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

Definition at line 1267 of file measurements.h.

◆ relative_position_enu_m

float point_one::fusion_engine::messages::RawGNSSAttitudeOutput::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 1261 of file measurements.h.

◆ solution_type

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

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

Definition at line 1244 of file measurements.h.

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

src/point_one/fusion_engine/messages/measurements.h