SwiftNav.SBP.SolutionMeta

< Standardized Metadata messages for Fuzed Solution from Swift Navigation devices. >

Documentation

data SolutionInputType

SolutionInputType.

Metadata describing which sensors were involved in the solution. The structure is fixed no matter what the actual sensor type is. The sensor_type field tells you which sensor we are talking about. It also tells you whether the sensor data was actually used or not. The flags field, always a u8, contains the sensor-specific data. The content of flags, for each sensor type, is described in the relevant structures in this section.

Constructors

SolutionInputType

Fields

• _solutionInputType_sensor_type :: !Word8

  The type of sensor

• _solutionInputType_flags :: !Word8

  Refer to each InputType description

Instances

FromJSON SolutionInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

parseJSON :: Value -> Parser SolutionInputType

parseJSONList :: Value -> Parser [SolutionInputType]

ToJSON SolutionInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

toJSON :: SolutionInputType -> Value

toEncoding :: SolutionInputType -> Encoding

toJSONList :: [SolutionInputType] -> Value

toEncodingList :: [SolutionInputType] -> Encoding

Read SolutionInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

readsPrec :: Int -> ReadS SolutionInputType

readList :: ReadS [SolutionInputType]

readPrec :: ReadPrec SolutionInputType

readListPrec :: ReadPrec [SolutionInputType]

Show SolutionInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

showsPrec :: Int -> SolutionInputType -> ShowS

show :: SolutionInputType -> String

showList :: [SolutionInputType] -> ShowS

Binary SolutionInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

put :: SolutionInputType -> Put

get :: Get SolutionInputType

putList :: [SolutionInputType] -> Put

Eq SolutionInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

(==) :: SolutionInputType -> SolutionInputType -> Bool

(/=) :: SolutionInputType -> SolutionInputType -> Bool

data MsgSolnMetaDepA

SBP class for message MSG_SOLN_META_DEP_A (0xFF0F).

Deprecated.

Constructors

MsgSolnMetaDepA

Fields

• _msgSolnMetaDepA_pdop :: !Word16

  Position Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

• _msgSolnMetaDepA_hdop :: !Word16

  Horizontal Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

• _msgSolnMetaDepA_vdop :: !Word16

  Vertical Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

• _msgSolnMetaDepA_n_sats :: !Word8

  Number of satellites as per last available solution from PVT engine

• _msgSolnMetaDepA_age_corrections :: !Word16

  Age of corrections as per last available AGE_CORRECTIONS from PVT engine (0xFFFF indicates invalid)

• _msgSolnMetaDepA_alignment_status :: !Word8

  State of alignment and the status and receipt of the alignment inputs

• _msgSolnMetaDepA_last_used_gnss_pos_tow :: !Word32

  Tow of last-used GNSS position measurement

• _msgSolnMetaDepA_last_used_gnss_vel_tow :: !Word32

  Tow of last-used GNSS velocity measurement

• _msgSolnMetaDepA_sol_in :: ![SolutionInputType]

  Array of Metadata describing the sensors potentially involved in the solution. Each element in the array represents a single sensor type and consists of flags containing (meta)data pertaining to that specific single sensor. Refer to each (XX)InputType descriptor in the present doc.

Instances

FromJSON MsgSolnMetaDepA

Defined in SwiftNav.SBP.SolutionMeta

Methods

parseJSON :: Value -> Parser MsgSolnMetaDepA

parseJSONList :: Value -> Parser [MsgSolnMetaDepA]

ToJSON MsgSolnMetaDepA

Defined in SwiftNav.SBP.SolutionMeta

Methods

toJSON :: MsgSolnMetaDepA -> Value

toEncoding :: MsgSolnMetaDepA -> Encoding

toJSONList :: [MsgSolnMetaDepA] -> Value

toEncodingList :: [MsgSolnMetaDepA] -> Encoding

Read MsgSolnMetaDepA

Defined in SwiftNav.SBP.SolutionMeta

Methods

readsPrec :: Int -> ReadS MsgSolnMetaDepA

readList :: ReadS [MsgSolnMetaDepA]

readPrec :: ReadPrec MsgSolnMetaDepA

readListPrec :: ReadPrec [MsgSolnMetaDepA]

Show MsgSolnMetaDepA

Defined in SwiftNav.SBP.SolutionMeta

Methods

showsPrec :: Int -> MsgSolnMetaDepA -> ShowS

show :: MsgSolnMetaDepA -> String

showList :: [MsgSolnMetaDepA] -> ShowS

Binary MsgSolnMetaDepA

Defined in SwiftNav.SBP.SolutionMeta

Methods

put :: MsgSolnMetaDepA -> Put

get :: Get MsgSolnMetaDepA

putList :: [MsgSolnMetaDepA] -> Put

Eq MsgSolnMetaDepA

Defined in SwiftNav.SBP.SolutionMeta

Methods

(==) :: MsgSolnMetaDepA -> MsgSolnMetaDepA -> Bool

(/=) :: MsgSolnMetaDepA -> MsgSolnMetaDepA -> Bool

ToSBP MsgSolnMetaDepA

Defined in SwiftNav.SBP.SolutionMeta

Methods

toSBP :: MsgSolnMetaDepA -> Word16 -> Msg

solutionInputType_flags :: Lens' SolutionInputType Word8

solutionInputType_sensor_type :: Lens' SolutionInputType Word8

msgSolnMetaDepA :: Word16

data MsgSolnMeta

SBP class for message MSG_SOLN_META (0xFF0E).

This message contains all metadata about the sensors received and/or used in computing the sensorfusion solution. It focuses primarily, but not only, on GNSS metadata. Regarding the age of the last received valid GNSS solution, the highest two bits are time status, indicating whether age gnss can or can not be used to retrieve time of measurement (noted TOM, also known as time of validity) If it can, subtract 'age gnss' from tow in navigation messages to get TOM. Can be used before alignment is complete in the Fusion Engine, when output solution is the last received valid GNSS solution and its tow is not a TOM.

Constructors

MsgSolnMeta

Fields

• _msgSolnMeta_tow :: !Word32

  GPS time of week rounded to the nearest millisecond

• _msgSolnMeta_pdop :: !Word16

  Position Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

• _msgSolnMeta_hdop :: !Word16

  Horizontal Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

• _msgSolnMeta_vdop :: !Word16

  Vertical Dilution of Precision as per last available DOPS from PVT engine (0xFFFF indicates invalid)

• _msgSolnMeta_age_corrections :: !Word16

  Age of corrections as per last available AGE_CORRECTIONS from PVT engine (0xFFFF indicates invalid)

• _msgSolnMeta_age_gnss :: !Word32

  Age and Time Status of the last received valid GNSS solution.

• _msgSolnMeta_sol_in :: ![SolutionInputType]

  Array of Metadata describing the sensors potentially involved in the solution. Each element in the array represents a single sensor type and consists of flags containing (meta)data pertaining to that specific single sensor. Refer to each (XX)InputType descriptor in the present doc.

Instances

FromJSON MsgSolnMeta

Defined in SwiftNav.SBP.SolutionMeta

Methods

parseJSON :: Value -> Parser MsgSolnMeta

parseJSONList :: Value -> Parser [MsgSolnMeta]

ToJSON MsgSolnMeta

Defined in SwiftNav.SBP.SolutionMeta

Methods

toJSON :: MsgSolnMeta -> Value

toEncoding :: MsgSolnMeta -> Encoding

toJSONList :: [MsgSolnMeta] -> Value

toEncodingList :: [MsgSolnMeta] -> Encoding

Read MsgSolnMeta

Defined in SwiftNav.SBP.SolutionMeta

Methods

readsPrec :: Int -> ReadS MsgSolnMeta

readList :: ReadS [MsgSolnMeta]

readPrec :: ReadPrec MsgSolnMeta

readListPrec :: ReadPrec [MsgSolnMeta]

Show MsgSolnMeta

Defined in SwiftNav.SBP.SolutionMeta

Methods

showsPrec :: Int -> MsgSolnMeta -> ShowS

show :: MsgSolnMeta -> String

showList :: [MsgSolnMeta] -> ShowS

Binary MsgSolnMeta

Defined in SwiftNav.SBP.SolutionMeta

Methods

put :: MsgSolnMeta -> Put

get :: Get MsgSolnMeta

putList :: [MsgSolnMeta] -> Put

Eq MsgSolnMeta

Defined in SwiftNav.SBP.SolutionMeta

Methods

(==) :: MsgSolnMeta -> MsgSolnMeta -> Bool

(/=) :: MsgSolnMeta -> MsgSolnMeta -> Bool

ToSBP MsgSolnMeta

Defined in SwiftNav.SBP.SolutionMeta

Methods

toSBP :: MsgSolnMeta -> Word16 -> Msg

msgSolnMetaDepA_age_corrections :: Lens' MsgSolnMetaDepA Word16

msgSolnMetaDepA_alignment_status :: Lens' MsgSolnMetaDepA Word8

msgSolnMetaDepA_hdop :: Lens' MsgSolnMetaDepA Word16

msgSolnMetaDepA_last_used_gnss_pos_tow :: Lens' MsgSolnMetaDepA Word32

msgSolnMetaDepA_last_used_gnss_vel_tow :: Lens' MsgSolnMetaDepA Word32

msgSolnMetaDepA_n_sats :: Lens' MsgSolnMetaDepA Word8

msgSolnMetaDepA_pdop :: Lens' MsgSolnMetaDepA Word16

msgSolnMetaDepA_sol_in :: Lens' MsgSolnMetaDepA [SolutionInputType]

msgSolnMetaDepA_vdop :: Lens' MsgSolnMetaDepA Word16

msgSolnMeta :: Word16

data GNSSInputType

GNSSInputType.

Metadata around the GNSS sensors involved in the fuzed solution. Accessible through sol_in[N].flags in a MSG_SOLN_META.

Constructors

GNSSInputType

Fields

• _gNSSInputType_flags :: !Word8

  flags that store all relevant info specific to this sensor type.

Instances

FromJSON GNSSInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

parseJSON :: Value -> Parser GNSSInputType

parseJSONList :: Value -> Parser [GNSSInputType]

ToJSON GNSSInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

toJSON :: GNSSInputType -> Value

toEncoding :: GNSSInputType -> Encoding

toJSONList :: [GNSSInputType] -> Value

toEncodingList :: [GNSSInputType] -> Encoding

Read GNSSInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

readsPrec :: Int -> ReadS GNSSInputType

readList :: ReadS [GNSSInputType]

readPrec :: ReadPrec GNSSInputType

readListPrec :: ReadPrec [GNSSInputType]

Show GNSSInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

showsPrec :: Int -> GNSSInputType -> ShowS

show :: GNSSInputType -> String

showList :: [GNSSInputType] -> ShowS

Binary GNSSInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

put :: GNSSInputType -> Put

get :: Get GNSSInputType

putList :: [GNSSInputType] -> Put

Eq GNSSInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

(==) :: GNSSInputType -> GNSSInputType -> Bool

(/=) :: GNSSInputType -> GNSSInputType -> Bool

msgSolnMeta_age_corrections :: Lens' MsgSolnMeta Word16

msgSolnMeta_age_gnss :: Lens' MsgSolnMeta Word32

msgSolnMeta_hdop :: Lens' MsgSolnMeta Word16

msgSolnMeta_pdop :: Lens' MsgSolnMeta Word16

msgSolnMeta_sol_in :: Lens' MsgSolnMeta [SolutionInputType]

msgSolnMeta_tow :: Lens' MsgSolnMeta Word32

msgSolnMeta_vdop :: Lens' MsgSolnMeta Word16

data IMUInputType

IMUInputType.

Metadata around the IMU sensors involved in the fuzed solution. Accessible through sol_in[N].flags in a MSG_SOLN_META.

Constructors

IMUInputType

Fields

• _iMUInputType_flags :: !Word8

  Instrument time, grade, and architecture for a sensor.

Instances

FromJSON IMUInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

parseJSON :: Value -> Parser IMUInputType

parseJSONList :: Value -> Parser [IMUInputType]

ToJSON IMUInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

toJSON :: IMUInputType -> Value

toEncoding :: IMUInputType -> Encoding

toJSONList :: [IMUInputType] -> Value

toEncodingList :: [IMUInputType] -> Encoding

Read IMUInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

readsPrec :: Int -> ReadS IMUInputType

readList :: ReadS [IMUInputType]

readPrec :: ReadPrec IMUInputType

readListPrec :: ReadPrec [IMUInputType]

Show IMUInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

showsPrec :: Int -> IMUInputType -> ShowS

show :: IMUInputType -> String

showList :: [IMUInputType] -> ShowS

Binary IMUInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

put :: IMUInputType -> Put

get :: Get IMUInputType

putList :: [IMUInputType] -> Put

Eq IMUInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

(==) :: IMUInputType -> IMUInputType -> Bool

(/=) :: IMUInputType -> IMUInputType -> Bool

gNSSInputType_flags :: Iso' GNSSInputType Word8

data OdoInputType

OdoInputType.

Metadata around the Odometry sensors involved in the fuzed solution. Accessible through sol_in[N].flags in a MSG_SOLN_META.

Constructors

OdoInputType

Fields

• _odoInputType_flags :: !Word8

  Instrument ODO rate, grade, and quality.

Instances

FromJSON OdoInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

parseJSON :: Value -> Parser OdoInputType

parseJSONList :: Value -> Parser [OdoInputType]

ToJSON OdoInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

toJSON :: OdoInputType -> Value

toEncoding :: OdoInputType -> Encoding

toJSONList :: [OdoInputType] -> Value

toEncodingList :: [OdoInputType] -> Encoding

Read OdoInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

readsPrec :: Int -> ReadS OdoInputType

readList :: ReadS [OdoInputType]

readPrec :: ReadPrec OdoInputType

readListPrec :: ReadPrec [OdoInputType]

Show OdoInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

showsPrec :: Int -> OdoInputType -> ShowS

show :: OdoInputType -> String

showList :: [OdoInputType] -> ShowS

Binary OdoInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

put :: OdoInputType -> Put

get :: Get OdoInputType

putList :: [OdoInputType] -> Put

Eq OdoInputType

Defined in SwiftNav.SBP.SolutionMeta

Methods

(==) :: OdoInputType -> OdoInputType -> Bool

(/=) :: OdoInputType -> OdoInputType -> Bool

iMUInputType_flags :: Iso' IMUInputType Word8

odoInputType_flags :: Iso' OdoInputType Word8