Struct Diagnostics 

#[non_exhaustive]
pub struct Diagnostics {
    pub gnss_position: SourceHealth,
    pub gnss_height: SourceHealth,
    pub gnss_velocity: SourceHealth,
    pub baro_altitude: SourceHealth,
    pub mag_heading: SourceHealth,
    pub gnss_heading: SourceHealth,
    pub course: SourceHealth,
    pub stationary: SourceHealth,
    pub position_hold: SourceHealth,
    pub yaw_estimator: SourceHealth,
    pub propagation: PropagationHealth,
    pub floored: u32,
    /* private fields */
}

Per-source health and what propagation refused, off the hot path.

Returned by Eskf::diagnostics.

Every count here describes the filter’s life since it last initialized, not since it was constructed: committing a window resets these. Measurements offered before then are refused with Fusion::NotInitialized and counted, and that count goes with the reset — which is what makes a refusal count afterwards a statement about the flight rather than about the caller’s startup order.

#[non_exhaustive]; see SourceHealth.

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

gnss_position: SourceHealth

GNSS position updates, horizontal: north and east. See GnssFusion.

gnss_height: SourceHealth

GNSS position updates, vertical: the height half of the same fix.

gnss_velocity: SourceHealth

GNSS velocity updates.

baro_altitude: SourceHealth

Barometric altitude updates.

mag_heading: SourceHealth

Magnetic heading updates.

gnss_heading: SourceHealth

Dual-antenna GNSS heading updates.

course: SourceHealth

Course constraint updates: heading along the estimated velocity.

stationary: SourceHealth

Zero-velocity updates from a caller’s claim that the vehicle is still; see Eskf::fuse_stationary.

position_hold: SourceHealth

Position-hold updates the filter fuses itself while unaided; see Config::hold.

yaw_estimator: SourceHealth

The yaw estimator of (45)–(52): each GNSS velocity it weighed is an arrival, and each heading the filter took from it an adoption, counted in adopted and, as every adoption is, in accepted. Never rejected, since its answer is not gated; see Config::yaw_estimator.

propagation: PropagationHealth

What Eskf::predict refused. Not a source, so not in sources.

floored: u32

Variances raised to the floor of equation (42′), counted per entry rather than per covariance.

Expected to stay at zero, and it does across the whole corpus — the floor is set well below anything the filter reaches there (measured). So a count climbing here says a variance is collapsing for a reason of its own — an R far smaller than what the measurement actually observes, or a source fused faster than it carries independent information — and that the floor is masking it rather than protecting against it. It is the one number here whose interesting value is the one it does not have.

Not counted per state, which would say which variance collapsed: a count that should be zero needs only to be non-zero to be worth reading, and the sigma_* columns of examples/replay/main.rs name the state as soon as anybody looks.

Implementations

impl Diagnostics

pub const fn sources(&self) -> [(&'static str, &SourceHealth); 10]

Every source, for iteration.

By reference, since Status reads this on every Eskf::state and a copy of nine SourceHealths is most of that call’s stack frame.

Trait Implementations

impl Clone for Diagnostics

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 Diagnostics

impl Debug for Diagnostics

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

Formats the value using the given formatter.

impl Default for Diagnostics

fn default() -> Self

Returns the “default value” for a type.

impl Format for Diagnostics

where SourceHealth: Format, PropagationHealth: Format, Seconds: Format,

Available on crate feature defmt only.

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

Writes the defmt representation of self to fmt.

impl PartialEq for Diagnostics

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Diagnostics