Struct Innovation 

pub struct Innovation { /* private fields */ }

The innovation of one update and its variance: ν of equation (23) and the diagonal of S of equation (24), one entry per component of the observation.

The diagonal rather than the whole of S, which is what PX4 publishes too (estimator_innovations and estimator_innovation_variances): it is what a per-axis plot of ν against ±3√S reads. The joint ε = νᵀ S⁻¹ ν the gate tests is test_ratio times the source’s threshold in Gates, so it is not repeated here.

Room for three components, the largest observation this crate makes; a scalar source fills one.

Implementations

impl Innovation

pub fn values(&self) -> &[f32]

ν = z − h(x̂), one entry per component, in the observation’s own frame and units.

pub fn variances(&self) -> &[f32]

The diagonal of S = H P Hᵀ + R, the variance of each entry of values.

Trait Implementations

impl Clone for Innovation

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 Innovation

impl Debug for Innovation

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

Formats the value using the given formatter.

impl Default for Innovation

fn default() -> Self

Returns the “default value” for a type.

impl Format for Innovation

Available on crate feature defmt only.

The components the observation has, not the three the storage holds.

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

Writes the defmt representation of self to fmt.

impl PartialEq for Innovation

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Innovation