Enum Alignment 

pub enum Alignment {
    Static,
    Coarse(Coarse),
    Seeded,
}

What Eskf::initialize achieved.

A window that is short or moving is not a failure — it is a coarser start, and the filter says which it got rather than refusing to run. See Status::Aligning.

Variants

Static

The window was long enough and genuinely still: tilt from averaged gravity, gyro bias from the averaged rate, and the covariance Initialization describes. Equations (5)–(8).

Coarse(Coarse)

The window was usable but not a static interval, so the covariance says what that window supports rather than what a still one would. The filter runs and reports Status::Aligning until tilt and heading uncertainty first come within ALIGNED_TILT and ALIGNED_HEADING.

Seeded

The state came from Eskf::initialize_from rather than from a window. Whether it counts as aligned is a question for the covariance the caller supplied, not for this value.

Implementations

impl Alignment

pub const fn is_static(self) -> bool

Whether this was a full static alignment.

Trait Implementations

impl Clone for Alignment

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Alignment

impl Debug for Alignment

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

Formats the value using the given formatter.

impl Display for Alignment

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

Formats the value using the given formatter.

impl Format for Alignment

where Coarse: Format,

Available on crate feature defmt only.

fn format(&self, f: Formatter<'_>)

Writes the defmt representation of self to fmt.

impl PartialEq for Alignment

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Alignment