Struct SourceHealth 

#[non_exhaustive]
pub struct SourceHealth {
    pub test_ratio: Option<f32>,
    pub innovation: Option<Innovation>,
    pub time_since_accepted: Option<Seconds>,
    pub consecutive_rejections: u16,
    pub accepted: u32,
    pub rejected: u32,
    pub refused: u32,
    pub last_refusal: Option<Refusal>,
    pub adopted: u32,
    pub recovered: u32,
    /* private fields */
}

Health of one observation source.

#[non_exhaustive]: read the fields, do not construct one. The set grows as the filter learns to report more, and every addition would otherwise break every caller.

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.

test_ratio: Option<f32>

Test ratio of the most recent measurement that reached the gate, or None if none has.

A refusal leaves it alone: there was no innovation to normalize, so the alternative is inventing a ratio or discarding the last real one. It can therefore read healthy while refused climbs — a receiver that starts reporting eph = 0 freezes this at its last good value — so a consumer plotting it reads last_refusal beside it.

innovation: Option<Innovation>

Innovation ν and its variance, from the most recent update the gate ran, whether it accepted or rejected; None if the last measurement that set test_ratio ran no update, and until one has.

Published so that a consistency statistic — NIS against the gate, or a comparison with the innovations PX4 logs — reads the filter’s own number rather than recomputing it from the measurement and the covariance, which would be a second implementation of (23) and (24) free to disagree with this one. None after an acceptance that ran no update: an adoption (Fusion::Reset) or a geodetic fix spent placing the origin.

time_since_accepted: Option<Seconds>

Time since a measurement from this source was last accepted, or None if none ever has been. Advances with the dt passed to Eskf::predict.

consecutive_rejections: u16

Rejections since the last acceptance.

accepted: u32

Measurements accepted over the filter’s life.

rejected: u32

Measurements rejected over the filter’s life.

refused: u32

Measurements turned away before the gate ran, over the filter’s life.

Distinct from rejected, which is the gate’s verdict on a measurement it could judge. A refusal means it could not be judged at all, and a source with a rising count here is misconfigured or miswired rather than noisy: a source that only ever refuses reads as never accepted, exactly like one that was never connected.

last_refusal: Option<Refusal>

Why the most recent refusal happened, or None if none has.

adopted: u32

Measurements adopted outright rather than fused, over the filter’s life.

For a quantity initialization left unobserved, once, and for every recovered lockout; see Fusion::Reset. Also counted in accepted, because the measurement was taken and the timer restarted — this is what tells the two apart, since an adoption steps the state and an ordinary acceptance does not.

recovered: u32

Adoptions that recovered from gate lockout, over the filter’s life: a measurement the gate rejected after Recovery’s timeout, adopted instead. Also counted in adopted.

Counted apart because it means something the first adoption does not: the covariance had shrunk around an error it could not see. A source that recovers regularly on good data is a finding against the covariance, not a working filter.

Implementations

impl SourceHealth

pub const fn has_been_used(&self) -> bool

Whether this source has ever been fused.

pub fn accepted_within(&self, timeout: Seconds) -> bool

Whether a measurement from this source was accepted no more than timeout ago. Never, for a source that has not been accepted at all.

pub fn period(&self) -> Option<Seconds>

This source’s update period as measured: the mean interval between its recent measurements, or None until fifteen have arrived.

Measured rather than configured, because the caller would be asked for a number the filter can read off the stream (GOALS.md differentiator 7). Every measurement placed in time counts, whether the gate then accepts, rejects or refuses it: this is how often the sensor speaks, which timeout reads, not how often it is believed.

pub fn timeout(&self, timeouts: &Timeouts) -> Seconds

How long this source may go unaccepted before it counts as timed out: two and a half of its own periods, or Timeouts::dead_reckoning_after until a period has been measured.

Not capped by dead_reckoning_after once one has: that is the mission’s limit on horizontal dead reckoning, and a mission that sets it to 2 s would otherwise time a jittery 1 Hz receiver out below its own 2.5 periods, the regime that flapped 2c42096b. A source slower than that limit allows is reported by DeadReckoning, which outranks Degraded, whenever it matters.

Two and a half, because that is where the corpus stops flapping. eb799954’s magnetometer, which bursts, changes status 2826 times over two periods and twice over two and a half; 2c42096b’s jittery 1 Hz receiver 330 times against 48. What is left is real: on a299e722, 10 Hz GNSS velocity rejected for a second at a time, which a threshold sized for a 1 Hz receiver never showed.

Per source, because one threshold has to clear the slowest source: sized for a 1 Hz GNSS, a 5 Hz barometer that stops is invisible for twelve missed readings. PX4 and ArduPilot fix theirs as constants (no_aid_timeout_max, 1 s, src/modules/ekf2/EKF/common.h:516 at c4e4ef98e9; hgtRetryTime*_ms, libraries/AP_NavEKF3/AP_NavEKF3.h:493-497 at 368dc0c428).

pub fn is_fresh(&self, timeouts: &Timeouts) -> bool

Whether this source was accepted within its own timeout: aiding that is arriving on its schedule.

Trait Implementations

impl Clone for SourceHealth

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 SourceHealth

impl Debug for SourceHealth

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

Formats the value using the given formatter.

impl Default for SourceHealth

fn default() -> Self

Returns the “default value” for a type.

impl Format for SourceHealth

where Option<f32>: Format, Option<Innovation>: Format, Option<Seconds>: Format, Option<Refusal>: Format, Cadence: Format,

Available on crate feature defmt only.

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

Writes the defmt representation of self to fmt.

impl PartialEq for SourceHealth

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for SourceHealth