sbp-4.6.0: SwiftNav's SBP Library
CopyrightCopyright (C) 2015-2021 Swift Navigation Inc.
LicenseMIT
Stabilityexperimental
Portabilityportable
Safe HaskellNone
LanguageHaskell2010

SwiftNav.SBP.Vehicle

Description

< Messages from a vehicle. >

Synopsis

Documentation

data MsgOdometry Source #

SBP class for message MSG_ODOMETRY (0x0903).

Message representing the x component of vehicle velocity in the user frame at the odometry reference point(s) specified by the user. The offset for the odometry reference point and the definition and origin of the user frame are defined through the device settings interface. There are 4 possible user-defined sources of this message which are labeled arbitrarily source 0 through 3. If using "processor time" time tags, the receiving end will expect a MSG_GNSS_TIME_OFFSET when a PVT fix becomes available to synchronise odometry measurements with GNSS. Processor time shall roll over to zero after one week.

Constructors

MsgOdometry 

Fields

data MsgWheeltick Source #

SBP class for message MSG_WHEELTICK (0x0904).

Message containing the accumulated distance travelled by a wheel located at an odometry reference point defined by the user. The offset for the odometry reference point and the definition and origin of the user frame are defined through the device settings interface. The source of this message is identified by the source field, which is an integer ranging from 0 to 255. The timestamp associated with this message should represent the time when the accumulated tick count reached the value given by the contents of this message as accurately as possible. If using "local CPU time" time tags, the receiving end will expect a MSG_GNSS_TIME_OFFSET when a PVT fix becomes available to synchronise wheeltick measurements with GNSS. Local CPU time shall roll over to zero after one week.

Constructors

MsgWheeltick 

Fields

  • _msgWheeltick_time :: !Word64

    Time field representing either microseconds since the last PPS, microseconds in the GPS Week or local CPU time from the producing system in microseconds. See the synch_type field for the exact meaning of this timestamp.

  • _msgWheeltick_flags :: !Word8

    Field indicating the type of timestamp contained in the time field.

  • _msgWheeltick_source :: !Word8

    ID of the sensor producing this message

  • _msgWheeltick_ticks :: !Int32

    Free-running counter of the accumulated distance for this sensor. The counter should be incrementing if travelling into one direction and decrementing when travelling in the opposite direction.