Struct Timestamp 

pub struct Timestamp(/* private fields */);

A moment on the caller’s clock, in whole microseconds.

The filter reads no clock. Every ImuSample and every measurement carries the time it describes, and the filter differences them: the interval a step covers, and how long ago a measurement was taken. Where the epoch sits does not matter, since only differences are read, but IMU and measurement times must be on one clock.

Microseconds in a u64, the unit PX4’s hrt_abstime and ArduPilot’s micros64 count in, rather than seconds in an f32: two hours in, as on 2c42096b’s 7127 s, f32 times are 0.49 ms apart, so a difference of two can be off by a fifth of a 400 Hz IMU interval.

Implementations

impl Timestamp

pub const ZERO: Self

The clock’s epoch.

pub const fn from_micros(micros: u64) -> Self

From a count of microseconds.

pub const fn as_micros(self) -> u64

The count of microseconds.

pub fn from_secs_f64(seconds: f64) -> Self

From seconds since the epoch, rounded to the nearest microsecond. A time before the epoch, or one that is not a number, is the epoch.

f64 because a log’s time column is: an f32 would lose the microseconds this type exists to keep.

pub fn after(self, interval: Seconds) -> Self

The moment interval after this one, to the nearest microsecond, saturating at the ends of the clock. A negative interval is a moment before it.

pub fn before(self, interval: Seconds) -> Self

The moment interval before this one: a measurement’s time from its age.

pub fn since(self, earlier: Self) -> Seconds

self − earlier, negative when earlier is the later of the two.

The subtraction is exact, in integers, and only its result is rounded to f32, so a short interval late in a long flight keeps every microsecond it has. The interval a rate IMU’s reading stands for, for ImuSample::from_rates.

Trait Implementations

impl Clone for Timestamp

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 Timestamp

impl Debug for Timestamp

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

Formats the value using the given formatter.

impl Default for Timestamp

fn default() -> Self

Returns the “default value” for a type.

impl Eq for Timestamp

impl Format for Timestamp

Available on crate feature defmt only.

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

Writes the defmt representation of self to fmt.

impl Hash for Timestamp

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl Ord for Timestamp

fn cmp(&self, other: &Self) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

where Self: Sized,

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

where Self: Sized,

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

where Self: Sized,

Restrict a value to a certain interval.

fn clamp_to<R>(self, range: R) -> Self

where Self: Sized, R: ClampBounds<Self>,

🔬This is a nightly-only experimental API. (clamp_to)

Restrict a value to a certain range.

impl PartialEq for Timestamp

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

Equality operator ==.

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

Inequality operator !=.

impl PartialOrd for Timestamp

fn partial_cmp(&self, other: &Self) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

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

Tests less than (for self and other) and is used by the < operator.

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

Tests less than or equal to (for self and other) and is used by the <= operator.

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

Tests greater than (for self and other) and is used by the > operator.

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

Tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralPartialEq for Timestamp