Struct ImuSpec

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pub struct ImuSpec {
    pub accel_vrw_mps_sqrt_s: f64,
    pub gyro_arw_rad_sqrt_s: f64,
    pub accel_bias_instab_mps2: f64,
    pub gyro_bias_instab_rps: f64,
    pub accel_bias_tau_s: f64,
    pub gyro_bias_tau_s: f64,
    pub accel_scale_instab_ppm: Option<f64>,
    pub gyro_scale_instab_ppm: Option<f64>,
}

Expand description

Datasheet-level IMU stochastic parameters.

Noise densities are one-sigma values in SI units per square-root second. Bias instabilities are one-sigma bias magnitudes. A bias time constant of RANDOM_WALK_BIAS_TAU_S selects the random-walk limit.

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§accel_vrw_mps_sqrt_s: f64

Accelerometer velocity random walk in m/s per square-root second.

§gyro_arw_rad_sqrt_s: f64

Gyroscope angular random walk in rad per square-root second.

§accel_bias_instab_mps2: f64

Accelerometer bias instability in m/s^2.

§gyro_bias_instab_rps: f64

Gyroscope bias instability in rad/s.

§accel_bias_tau_s: f64

Accelerometer first-order Gauss-Markov bias time constant in seconds.

§gyro_bias_tau_s: f64

Gyroscope first-order Gauss-Markov bias time constant in seconds.

§accel_scale_instab_ppm: Option<f64>

Optional accelerometer scale instability in parts per million.

§gyro_scale_instab_ppm: Option<f64>

Optional gyroscope scale instability in parts per million.

Implementations§

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impl ImuSpec

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pub const fn datasheet( accel_vrw_mps_sqrt_s: f64, gyro_arw_rad_sqrt_s: f64, accel_bias_instab_mps2: f64, gyro_bias_instab_rps: f64, accel_bias_tau_s: f64, gyro_bias_tau_s: f64, accel_scale_instab_ppm: Option<f64>, gyro_scale_instab_ppm: Option<f64>, ) -> ImuSpec

Build an IMU specification from datasheet values.

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pub const fn preset(grade: ImuGrade) -> ImuSpec

Return the built-in preset for an IMU grade.

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pub const fn mems() -> ImuSpec

Representative low-cost MEMS preset.

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pub const fn tactical() -> ImuSpec

Representative tactical preset.

Representative navigation preset.

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pub fn validate(&self) -> Result<(), InertialError>

Validate finite, non-negative stochastic parameters and valid bias time constants.

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pub fn accel_bias_decay(&self, dt_s: f64) -> Result<f64, InertialError>

Accelerometer bias decay over dt_s.

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pub fn gyro_bias_decay(&self, dt_s: f64) -> Result<f64, InertialError>

Gyroscope bias decay over dt_s.

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pub fn accel_bias_variance_increment( &self, dt_s: f64, ) -> Result<f64, InertialError>

Accelerometer bias variance increment over dt_s.

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pub fn gyro_bias_variance_increment( &self, dt_s: f64, ) -> Result<f64, InertialError>

Gyroscope bias variance increment over dt_s.

Trait Implementations§

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impl Clone for ImuSpec

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fn clone(&self) -> ImuSpec

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

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impl Copy for ImuSpec

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impl Debug for ImuSpec

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

Formats the value using the given formatter. Read more

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impl PartialEq for ImuSpec

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

Equality operator ==. Read more

1.0.0 (const: unstable) · Source§

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

Inequality operator !=. Read more

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impl StructuralPartialEq for ImuSpec

Auto Trait Implementations§

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impl UnwindSafe for ImuSpec

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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