Enum Refusal 

pub enum Refusal {
    NotInitialized,
    NoReference,
    Unobservable,
    NotFinite,
    InvalidNoise,
    StateInvalid,
    OutOfHorizon,
}

Why a measurement was turned away before the gate ran.

The cases Fusion reports that are not a verdict on the measurement’s value: the filter could not form an innovation to judge it against, or the numbers offered were not ones any sensor could produce. Kept on SourceHealth::last_refusal so that a count of refusals says which kind, which is the difference between a miswired sensor and a missing reference.

Variants

NotInitialized

The filter had not been initialized. See Fusion::NotInitialized.

NoReference

Nothing to measure against: no barometric reference, no origin the fix could place, or no held velocity for a course. See Fusion::NoReference.

Unobservable

The geometry observed nothing: a forward axis near vertical, or too little speed for a course. See Fusion::Unobservable.

NotFinite

A number in the measurement or its noise was NaN or infinite. See Fusion::NotFinite.

InvalidNoise

A variance in the measurement noise was zero or negative. See Fusion::InvalidNoise.

StateInvalid

The filter’s own covariance or correction could not support an update. See Fusion::StateInvalid.

OutOfHorizon

The measurement’s time was outside what the filter can place it at. See Fusion::OutOfHorizon.

Trait Implementations

impl Clone for Refusal

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 Refusal

impl Debug for Refusal

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

Formats the value using the given formatter.

impl Display for Refusal

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

Formats the value using the given formatter.

impl Eq for Refusal

impl Format for Refusal

Available on crate feature defmt only.

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

Writes the defmt representation of self to fmt.

impl PartialEq for Refusal

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Refusal