Struct Coast 

pub struct Coast {
    pub acceleration: f32,
    pub rotation: f32,
}

What the filter assumes across an IMU gap it coasts over. Equation (22′).

A gap longer than Config::max_predict_dt has no measurement describing it, so the filter coasts: position advances on the estimated velocity, nothing else moves, and the covariance grows by (22) plus an acceleration nobody measured. Refusing the step instead leaves a moving vehicle’s state stale by v Δt under a covariance that did not grow, and every fix after the gap is then tens of σ away and turned down until Config::recovery adopts one — the lockout coasting exists to prevent.

On by default, per rejection handling: a correction the filter can make honestly is made, and Config::coast = None is the opt-out for an application that owns the gap itself.

Fields

acceleration: f32

Density of the acceleration the vehicle may have pulled during the gap, m s⁻² / √Hz, added to the velocity block of (21) for the gap’s duration: σ_v = a √Δt, 3.5 m/s over a 3.1 s gap at the default.

rotation: f32

Density of the rotation the vehicle may have made during the gap, rad s⁻¹ / √Hz, added to the attitude block of (21) for the gap’s duration: 10° over a 3.1 s gap at the default. All three axes, because a vehicle that turns also banks.

Trait Implementations

impl Clone for Coast

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 Coast

impl Debug for Coast

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

Formats the value using the given formatter.

impl Default for Coast

fn default() -> Self

Measured on the two sources with gaps at speed, and set at twice the smallest value either needed. Both are properties of an airframe’s maneuvers, so a vehicle more agile than these is the reason to raise them.

rotation is the corpus’s finding rather than the simulator’s: 4b473e91’s course turns 44° across a 3.1 s gap, and coasted without it the stale heading steers velocity off until the gate turns it down, 7 recoveries at half the default acceleration (evidence).

impl PartialEq for Coast

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Coast