Struct PropagationHealth 

#[non_exhaustive]
pub struct PropagationHealth {
    pub coasted: u32,
    pub refused_too_long: u32,
    pub refused_invalid: u32,
    pub refused_not_finite: u32,
    pub refused_state_not_finite: u32,
    pub longest_gap: Option<Seconds>,
}

What propagation refused or coasted across, and the longest gap.

Not per source — Eskf::predict is the one path that is not a sensor — and the only record that a step was ever turned away. The state stops advancing while Status goes on reporting on the aiding, so without this a filter running on refused steps looks healthy.

#[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.

coasted: u32

Gaps longer than Config::max_predict_dt coasted across, Propagation::Coasted.

refused_too_long: u32

Steps refused as longer than Config::max_predict_dt, with Config::coast off.

refused_invalid: u32

Steps refused for their timing: a sample not after the last, Propagation::InvalidStep, or an integration interval under a microsecond or past Config::max_predict_dt, Propagation::InvalidInterval.

refused_not_finite: u32

Steps refused because the ImuSample carried a NaN or an infinity.

Counted apart from refused_invalid because the two name different faults: that one is the caller’s timing, this one is the sensor. A count climbing here is a miswired or failed IMU, and there is no other record of it — the state simply stops advancing while the aiding timers run on.

refused_state_not_finite: u32

Steps whose propagated state or covariance carried a NaN or an infinity, discarded together.

Counted apart from refused_not_finite for the reason that one is counted apart from refused_invalid: a different fault. That one is a sensor emitting a NaN; this one is arithmetic overflowing on values it accepted, which is a magnitude problem rather than a validity one and is read at a different place in a bring-up.

longest_gap: Option<Seconds>

The longest dt past Config::max_predict_dt, coasted or refused, or None if there has been none.

How far past the limit the worst gap ran, which separates a scheduler that overran by a millisecond from a logger that dropped a second of data. The filter reads no clock, so it holds the size of the gap and not when it happened; a caller that needs the moment timestamps it from Propagation::Coasted or Propagation::StepTooLong.

Trait Implementations

impl Clone for PropagationHealth

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 PropagationHealth

impl Debug for PropagationHealth

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

Formats the value using the given formatter.

impl Default for PropagationHealth

fn default() -> Self

Returns the “default value” for a type.

impl Format for PropagationHealth

where Option<Seconds>: Format,

Available on crate feature defmt only.

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

Writes the defmt representation of self to fmt.

impl PartialEq for PropagationHealth

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for PropagationHealth