sbp-4.17.0: SwiftNav's SBP Library
CopyrightCopyright (C) 2015-2021 Swift Navigation Inc.
LicenseMIT
Stabilityexperimental
Portabilityportable
Safe HaskellSafe-Inferred
LanguageHaskell2010

SwiftNav.SBP.SolutionMeta

Description

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

Synopsis

Documentation

data SolutionInputType Source #

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

data MsgSolnMetaDepA Source #

SBP class for message MSG_SOLN_META_DEP_A (0xFF0F).

Deprecated.

Constructors

MsgSolnMetaDepA 

Fields

data MsgSolnMeta Source #

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.

data GNSSInputType Source #

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

data IMUInputType Source #

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

data OdoInputType Source #

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