Struct SensorFusionRecord 

pub struct SensorFusionRecord {
    pub timestamp: f64,
    pub position_m: [f64; 3],
    pub velocity_ms: [f64; 3],
    pub euler_rad: [f64; 3],
    pub altitude_m: f64,
    pub temperature_c: f64,
    pub imu_innovation: f64,
}

Fused output combining IMU, pressure, and encoder data after Kalman filtering.

Fields

timestamp: f64

Timestamp in seconds.

position_m: [f64; 3]

Estimated position [x, y, z] in metres.

velocity_ms: [f64; 3]

Estimated velocity [vx, vy, vz] in m/s.

euler_rad: [f64; 3]

Estimated Euler angles [roll, pitch, yaw] in radians.

altitude_m: f64

Estimated altitude in metres (from barometric fusion).

temperature_c: f64

Fused temperature in °C.

imu_innovation: f64

Innovation (residual) magnitude for IMU update.

Implementations

impl SensorFusionRecord

pub fn zero(timestamp: f64) -> Self

Create a new fusion record with all-zero fields.

pub fn horizontal_speed(&self) -> f64

Horizontal speed in m/s (sqrt(vx² + vy²)).

pub fn speed_3d(&self) -> f64

3-D speed in m/s.

pub fn to_bytes(&self) -> Vec<u8>

Serialize to 104 bytes.

pub fn from_bytes(data: &[u8]) -> Option<Self>

Deserialize from 104 bytes.

Trait Implementations

impl Clone for SensorFusionRecord

fn clone(&self) -> SensorFusionRecord

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for SensorFusionRecord

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

Formats the value using the given formatter.