Struct State 

pub struct State {
    pub attitude: Attitude,
    pub position: Position<Ned>,
    pub velocity: Velocity<Ned>,
    pub accel_bias: Acceleration<Body>,
    pub gyro_bias: AngularRate<Body>,
    pub status: Status,
    pub validity: Validity,
}

The navigation estimate, returned by Eskf::state.

Small and Copy, so reading it every control cycle costs nothing. The status is a field rather than a separate accessor so that the trust level travels with the numbers it qualifies. Nothing forces a caller to read it — state().position compiles — but it is in hand rather than behind a second call that is easy not to make.

Fields

attitude: Attitude

Rotation from body to NED.

position: Position<Ned>

Position relative to the navigation origin.

velocity: Velocity<Ned>

Velocity in the navigation frame.

accel_bias: Acceleration<Body>

Estimated accelerometer bias, to be subtracted from raw measurements.

gyro_bias: AngularRate<Body>

Estimated gyroscope bias, to be subtracted from raw measurements.

status: Status

Whether the estimate is currently aided, and by how much.

validity: Validity

Which parts of this estimate are good enough to use.

Alongside status rather than behind an accessor, for the same reason: the trust travels with the numbers it qualifies. status is the summary a human reads; this is what a controller branches on.

Trait Implementations

impl Clone for State

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 State

impl Debug for State

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

Formats the value using the given formatter.

impl Default for State

fn default() -> Self

Returns the “default value” for a type.

impl Format for State

where Attitude: Format, Position<Ned>: Format, Velocity<Ned>: Format, Acceleration<Body>: Format, AngularRate<Body>: Format, Status: Format, Validity: Format,

Available on crate feature defmt only.

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

Writes the defmt representation of self to fmt.

impl PartialEq for State

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for State