point_one::fusion_engine::messages::RelativeENUPositionMessage Struct Reference

Detailed Description

Relative ENU position to base station (MessageType::RELATIVE_ENU_POSITION, version 1.1).

Note

This message represents the relationship between the navigation engine's position solution and a nearby RTK base station. It is not used to convey unfiltered vehicle body orientation measurements generated using multiple GNSS antennas. See GNSSAttitudeOutput instead.

Definition at line 512 of file solution.h.

Inheritance diagram for point_one::fusion_engine::messages::RelativeENUPositionMessage:

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

Public Attributes
Timestamp	gps_time
	The GPS time of the message, if available, referenced to 1980/1/6. More...
Timestamp	p1_time
	The time of the message, in P1 time (beginning at power-on). 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...
uint32_t	reference_station_id = INVALID_REFERENCE_STATION
	The ID of the differential base station. More...
double	relative_position_enu_m [3] = {NAN, NAN, NAN}
	The relative position (in meters), resolved in the local ENU frame. More...
SolutionType	solution_type = SolutionType::Invalid
	The type of this position solution. More...

Static Public Attributes
static constexpr uint32_t	INVALID_REFERENCE_STATION = 0xFFFFFFFF
static constexpr MessageType	MESSAGE_TYPE
static constexpr uint8_t	MESSAGE_VERSION = 1

Member Data Documentation

gps_time

Timestamp point_one::fusion_engine::messages::RelativeENUPositionMessage::gps_time

The GPS time of the message, if available, referenced to 1980/1/6.

Definition at line 523 of file solution.h.

INVALID_REFERENCE_STATION

constexpr uint32_t point_one::fusion_engine::messages::RelativeENUPositionMessage::INVALID_REFERENCE_STATION = 0xFFFFFFFF

staticconstexpr

Definition at line 517 of file solution.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::RelativeENUPositionMessage::MESSAGE_TYPE

staticconstexpr

Initial value:

=
      MessageType::RELATIVE_ENU_POSITION

Definition at line 513 of file solution.h.

MESSAGE_VERSION

constexpr uint8_t point_one::fusion_engine::messages::RelativeENUPositionMessage::MESSAGE_VERSION = 1

staticconstexpr

Definition at line 515 of file solution.h.

p1_time

Timestamp point_one::fusion_engine::messages::RelativeENUPositionMessage::p1_time

The time of the message, in P1 time (beginning at power-on).

Definition at line 520 of file solution.h.

position_std_enu_m

float point_one::fusion_engine::messages::RelativeENUPositionMessage::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.

Note

If a differential solution to the base station is not available, these values will be NAN.

Definition at line 550 of file solution.h.

reference_station_id

uint32_t point_one::fusion_engine::messages::RelativeENUPositionMessage::reference_station_id = INVALID_REFERENCE_STATION

The ID of the differential base station.

Definition at line 531 of file solution.h.

relative_position_enu_m

double point_one::fusion_engine::messages::RelativeENUPositionMessage::relative_position_enu_m[3] = {NAN, NAN, NAN}

The relative position (in meters), resolved in the local ENU frame.

Note

If a differential solution to the base station is not available, these values will be NAN.

Definition at line 540 of file solution.h.

solution_type

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

The type of this position solution.

Definition at line 526 of file solution.h.

---

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

• src/point_one/fusion_engine/messages/solution.h