Enum Coarse 

pub enum Coarse {
    WindowTooShort {
        required: Seconds,
        provided: Seconds,
    },
    NotStationary {
        peak_gyro: RadiansPerSecond,
        peak_accel_deviation: MetersPerSecond2,
        span: Seconds,
        inertial_accel: Option<Acceleration<Ned>>,
    },
}

Why alignment was coarse rather than static.

Carries what was measured, so “not stationary” is diagnosable rather than a bare verdict: an integrator tuning Initialization needs to know by how much.

Variants

WindowTooShort

The vehicle held still, but the window spans less than Initialization::min_duration.

Still is measured before length, so a short window that moved is NotStationary instead: this variant is a parked vehicle that has not been parked for long, and the filter trusts its position, velocity, barometric reference and heading as it would a static window’s.

Fields

required: Seconds

Duration the configuration requires.

provided: Seconds

Duration the window covers: the time its samples integrated.

NotStationary

The vehicle was moving: angular rate or specific force left the tolerance Initialization allows.

Fields

peak_gyro: RadiansPerSecond

Largest angular rate magnitude in the window.

peak_accel_deviation: MetersPerSecond2

Largest departure of the specific-force magnitude from gravity.

span: Seconds

How long the window spanned. With peak_gyro, this bounds how far the vehicle turned while its gravity vector was being averaged, which is the other way a moving window spoils tilt.

inertial_accel: Option<Acceleration<Ned>>

Mean navigation-frame acceleration over the window, ā_n of equation (5′), differenced from StaticSample::velocity. None when no two samples carried one.

What separates a vehicle that is accelerating from an accelerometer that is lying: peak_accel_deviation measures specific force that is not gravity, and this is the part of it GNSS can account for. A launch off a moving deck reads both, and only one of them spoils tilt.

Stub. Reported, not subtracted (equation (5′), #59), so it narrows nothing: the tilt prior of (8′) is bounded by how far the window’s averaged specific force is from gravity, and a real ā_n is part of what puts it there.

Trait Implementations

impl Clone for Coarse

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 Coarse

impl Debug for Coarse

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

Formats the value using the given formatter.

impl Display for Coarse

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

Formats the value using the given formatter.

impl Format for Coarse

where Seconds: Format, RadiansPerSecond: Format, MetersPerSecond2: Format, Option<Acceleration<Ned>>: Format,

Available on crate feature defmt only.

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

Writes the defmt representation of self to fmt.

impl PartialEq for Coarse

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Coarse