Struct Validity 

pub struct Validity {
    pub tilt: bool,
    pub heading: bool,
    pub horizontal_position: bool,
    pub vertical_position: bool,
    pub horizontal_velocity: bool,
    pub vertical_velocity: bool,
}

Which parts of the estimate are good enough to use.

The single Status answers how bad is the worst thing; this answers which outputs can I use, which is the question a controller actually has. They are independent axes, and collapsing them loses real information: a filter that started coarse and has adopted a GNSS fix has position as good as the receiver while its attitude is still converging, and Status::Aligning alone cannot say so.

Every flag is derived from the covariance against Config::accuracy, plus the requirement that the quantity was ever established at all — a coarse start has no position until a fix arrives, a window with no magnetometer has no heading until a heading source is fused, and a tight prior on a number nobody set is not validity. Nor is a covariance the position hold bounded: horizontal position and velocity stay invalid after one until measured again; see Hold.

Horizontal and vertical are separate because sources are: a vehicle with a barometer and no GNSS has a usable height and no horizontal position at all, as one log in the replay corpus does. Another carries neither source, so it has no position of either kind.

Fields

tilt: bool

Tilt: rotation about north and about east, each within Accuracy::tilt. Read on navigation axes rather than body ones, which are tilt only while the vehicle is level; see AttitudeVariance.

heading: bool

Heading. False until something observes the rotation about gravity: a magnetometer in the initialization window, or an accepted Eskf::fuse_mag_heading, fuse_gnss_heading or fuse_course. Stillness does not observe it, so a perfect static alignment on a vehicle with no magnetometer reports tilt and not this.

horizontal_position: bool

North and east position.

vertical_position: bool

Down position.

horizontal_velocity: bool

North and east velocity.

vertical_velocity: bool

Down velocity.

Implementations

impl Validity

pub const NONE: Self

Nothing is valid. What an uninitialized filter reports.

pub const fn all(self) -> bool

Whether every part of the estimate is usable.

pub const fn attitude(self) -> bool

Whether attitude is usable: the part a stabilizing controller needs before anything else.

pub const fn navigation(self) -> bool

Whether the full navigation solution — position and velocity, both axes — is usable.

Trait Implementations

impl Clone for Validity

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 Validity

impl Debug for Validity

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

Formats the value using the given formatter.

impl Default for Validity

fn default() -> Self

Returns the “default value” for a type.

impl Display for Validity

Six flags in the order the struct declares them, a letter where the quantity is usable and - where it is not: att:T- pos:HV vel:HV is tilt without heading, position and velocity on both axes. The shape PX4’s *_valid flags and ArduPilot’s nav_filter_status bits are read in, and short enough for every line of a 1 Hz log.

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

Formats the value using the given formatter.

impl Eq for Validity

impl Format for Validity

Available on crate feature defmt only.

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

Writes the defmt representation of self to fmt.

impl PartialEq for Validity

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Validity