Struct AltitudeKalmanFilter 

pub struct AltitudeKalmanFilter<T> { /* private fields */ }

Implementations

impl<T> AltitudeKalmanFilter<T>

where T: Copy + ConstZero + ConstOne + FloatCore + Matrix3x3Math + AltitudeKalmanFilterConstants,

pub const fn new() -> Self

Constructor.

impl<T> AltitudeKalmanFilter<T>

where T: Copy + ConstZero + ConstOne + FloatCore + SqrtMethods + Matrix3x3Math + AltitudeKalmanFilterConstants,

pub fn new_steady_state( initial_altitude: T, q_velocity: T, q_bias: T, r_barometer: T, r_rangefinder: T, r_gps: T, ) -> Self

Initializer targeting steady-state baseline parameters.

pub fn set_velocity(&mut self, velocity: T)

pub fn reset(&mut self)

pub fn state(&self) -> (T, T)

Returns doublet (estimated velocity, estimated altitude).

impl<T> AltitudeKalmanFilter<T>

where T: Copy + ConstZero + ConstOne + FloatCore + SqrtMethods + Matrix3x3Math,

pub fn predict( &mut self, acceleration_measurement: T, delta_t: T, ) -> Vector3d<T>

Phase 1: Predict state forward using IMU/Physics Call this at your IMU frequency or fixed control loop rate.

impl<T> AltitudeKalmanFilter<T>

where T: Copy + ConstZero + ConstOne + FloatCore + Matrix3x3Math + AltitudeKalmanFilterConstants,

pub fn correct_altitude(&mut self, altitude: T, R: T)

Phase 2 Altitude Correction using new measurement.

pub fn correct_altitude_using_barometer(&mut self, altitude: T)

Phase 2: Correct altitude using the barometer measurement.

pub fn correct_altitude_using_rangefinder(&mut self, altitude: T)

Phase 2: Correct altitude using the rangefinder measurement.

pub fn correct_altitude_using_gps(&mut self, altitude: T)

Phase 2: Correct altitude using GPS vertical measurement.

Trait Implementations

impl<T: Clone> Clone for AltitudeKalmanFilter<T>

fn clone(&self) -> AltitudeKalmanFilter<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Copy> Copy for AltitudeKalmanFilter<T>

impl<T: Debug> Debug for AltitudeKalmanFilter<T>

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

Formats the value using the given formatter.

impl<T> Default for AltitudeKalmanFilter<T>

where T: Copy + ConstZero + ConstOne + FloatCore + Matrix3x3Math + AltitudeKalmanFilterConstants,

fn default() -> Self

Returns the “default value” for a type.

impl<T: PartialEq> PartialEq for AltitudeKalmanFilter<T>

fn eq(&self, other: &AltitudeKalmanFilter<T>) -> bool

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T: PartialEq> StructuralPartialEq for AltitudeKalmanFilter<T>