Enum mavlink::common::MavFrame

#[repr(u32)]
pub enum MavFrame {
    MAV_FRAME_GLOBAL = 0,
    MAV_FRAME_LOCAL_NED = 1,
    MAV_FRAME_MISSION = 2,
    MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
    MAV_FRAME_LOCAL_ENU = 4,
    MAV_FRAME_GLOBAL_INT = 5,
    MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6,
    MAV_FRAME_LOCAL_OFFSET_NED = 7,
    MAV_FRAME_BODY_NED = 8,
    MAV_FRAME_BODY_OFFSET_NED = 9,
    MAV_FRAME_GLOBAL_TERRAIN_ALT = 10,
    MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11,
    MAV_FRAME_BODY_FRD = 12,
    MAV_FRAME_RESERVED_13 = 13,
    MAV_FRAME_RESERVED_14 = 14,
    MAV_FRAME_RESERVED_15 = 15,
    MAV_FRAME_RESERVED_16 = 16,
    MAV_FRAME_RESERVED_17 = 17,
    MAV_FRAME_RESERVED_18 = 18,
    MAV_FRAME_RESERVED_19 = 19,
    MAV_FRAME_LOCAL_FRD = 20,
    MAV_FRAME_LOCAL_FLU = 21,
}

Available on crate feature common only.

Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles. Global frames use the following naming conventions: - “GLOBAL”: Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with “GLOBAL”: - “RELATIVE_ALT”: Altitude is relative to the vehicle home position rather than MSL. - “TERRAIN_ALT”: Altitude is relative to ground level rather than MSL. - “INT”: Latitude/longitude (in degrees) are scaled by multiplying by 1E7. Local frames use the following naming conventions: - “LOCAL”: Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator (“EKF”). - “BODY”: Origin of local frame travels with the vehicle. NOTE, “BODY” does NOT indicate alignment of frame axis with vehicle attitude. - “OFFSET”: Deprecated synonym for “BODY” (origin travels with the vehicle). Not to be used for new frames. Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

Variants

MAV_FRAME_GLOBAL = 0

Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).

MAV_FRAME_LOCAL_NED = 1

NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.

MAV_FRAME_MISSION = 2

NOT a coordinate frame, indicates a mission command.

MAV_FRAME_GLOBAL_RELATIVE_ALT = 3

Global (WGS84) coordinate frame + altitude relative to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home position.

MAV_FRAME_LOCAL_ENU = 4

ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.

MAV_FRAME_GLOBAL_INT = 5

Global (WGS84) coordinate frame (scaled) + MSL altitude. First value / x: latitude in degrees1E7, second value / y: longitude in degrees1E7, third value / z: positive altitude over mean sea level (MSL).

MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6

Global (WGS84) coordinate frame (scaled) + altitude relative to the home position. First value / x: latitude in degrees1E7, second value / y: longitude in degrees1E7, third value / z: positive altitude with 0 being at the altitude of the home position.

MAV_FRAME_LOCAL_OFFSET_NED = 7

NED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.

MAV_FRAME_BODY_NED = 8

Same as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.

MAV_FRAME_BODY_OFFSET_NED = 9

This is the same as MAV_FRAME_BODY_FRD.

MAV_FRAME_GLOBAL_TERRAIN_ALT = 10

Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.

MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11

Global (WGS84) coordinate frame (scaled) with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees1E7, second value / y: longitude in degrees1E7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.

MAV_FRAME_BODY_FRD = 12

FRD local frame aligned to the vehicle’s attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.

MAV_FRAME_RESERVED_13 = 13

MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).

MAV_FRAME_RESERVED_14 = 14

MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).

MAV_FRAME_RESERVED_15 = 15

MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).

MAV_FRAME_RESERVED_16 = 16

MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).

MAV_FRAME_RESERVED_17 = 17

MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).

MAV_FRAME_RESERVED_18 = 18

MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).

MAV_FRAME_RESERVED_19 = 19

MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).

MAV_FRAME_LOCAL_FRD = 20

FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.

MAV_FRAME_LOCAL_FLU = 21

FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.

Implementations

impl MavFrame

pub const DEFAULT: Self = Self::MAV_FRAME_GLOBAL

Trait Implementations

impl Clone for MavFrame

fn clone(&self) -> MavFrame

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MavFrame

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for MavFrame

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for MavFrame

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl FromPrimitive for MavFrame

fn from_i64(n: i64) -> Option<Self>

Converts an i64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_u64(n: u64) -> Option<Self>

Converts an u64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_isize(n: isize) -> Option<Self>

Converts an isize to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_i8(n: i8) -> Option<Self>

Converts an i8 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_i16(n: i16) -> Option<Self>

Converts an i16 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_i32(n: i32) -> Option<Self>

Converts an i32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_i128(n: i128) -> Option<Self>

Converts an i128 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_usize(n: usize) -> Option<Self>

Converts a usize to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_u8(n: u8) -> Option<Self>

Converts an u8 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_u16(n: u16) -> Option<Self>

Converts an u16 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_u32(n: u32) -> Option<Self>

Converts an u32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_u128(n: u128) -> Option<Self>

Converts an u128 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_f32(n: f32) -> Option<Self>

Converts a f32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

fn from_f64(n: f64) -> Option<Self>

Converts a f64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

impl PartialEq for MavFrame

fn eq(&self, other: &MavFrame) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for MavFrame

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl ToPrimitive for MavFrame

fn to_i64(&self) -> Option<i64>

Converts the value of self to an i64. If the value cannot be represented by an i64, then None is returned.

fn to_u64(&self) -> Option<u64>

Converts the value of self to a u64. If the value cannot be represented by a u64, then None is returned.

fn to_isize(&self) -> Option<isize>

Converts the value of self to an isize. If the value cannot be represented by an isize, then None is returned.

fn to_i8(&self) -> Option<i8>

Converts the value of self to an i8. If the value cannot be represented by an i8, then None is returned.

fn to_i16(&self) -> Option<i16>

Converts the value of self to an i16. If the value cannot be represented by an i16, then None is returned.

fn to_i32(&self) -> Option<i32>

Converts the value of self to an i32. If the value cannot be represented by an i32, then None is returned.

fn to_i128(&self) -> Option<i128>

Converts the value of self to an i128. If the value cannot be represented by an i128 (i64 under the default implementation), then None is returned.

fn to_usize(&self) -> Option<usize>

Converts the value of self to a usize. If the value cannot be represented by a usize, then None is returned.

fn to_u8(&self) -> Option<u8>

Converts the value of self to a u8. If the value cannot be represented by a u8, then None is returned.

fn to_u16(&self) -> Option<u16>

Converts the value of self to a u16. If the value cannot be represented by a u16, then None is returned.

fn to_u32(&self) -> Option<u32>

Converts the value of self to a u32. If the value cannot be represented by a u32, then None is returned.

fn to_u128(&self) -> Option<u128>

Converts the value of self to a u128. If the value cannot be represented by a u128 (u64 under the default implementation), then None is returned.

fn to_f32(&self) -> Option<f32>

Converts the value of self to an f32. Overflows may map to positive or negative inifinity, otherwise None is returned if the value cannot be represented by an f32.

fn to_f64(&self) -> Option<f64>

Converts the value of self to an f64. Overflows may map to positive or negative inifinity, otherwise None is returned if the value cannot be represented by an f64.

impl Copy for MavFrame

impl StructuralPartialEq for MavFrame