Struct Coefficients

pub struct Coefficients {

    pub gyr_ts: Float,
    pub acc_ts: Float,
    pub mag_ts: Float,
    pub acc_lp_b: [f64; 3],
    pub acc_lp_a: [f64; 2],
    pub k_mag: Float,
    pub bias_p0: Float,
    pub bias_v: Float,
    pub bias_motion_w: Float,
    pub bias_vertical_w: Float,
    pub bias_rest_w: Float,
    pub rest_gyr_lp_b: [f64; 3],
    pub rest_gyr_lp_a: [f64; 2],
    pub rest_acc_lp_b: [f64; 3],
    pub rest_acc_lp_a: [f64; 2],
    pub k_mag_ref: Float,
    pub mag_norm_dip_lp_b: [f64; 3],
    pub mag_norm_dip_lp_a: [f64; 2],
}

Struct containing coefficients used by the VQF class.

Coefficients are values that depend on the parameters and the sampling times, but do not change during update steps. They are calculated in VQF::new().

Fields

gyr_ts: Float

Sampling time of the gyroscope measurements (in seconds).

acc_ts: Float

Sampling time of the accelerometer measurements (in seconds).

mag_ts: Float

Sampling time of the magnetometer measurements (in seconds).

acc_lp_b: [f64; 3]

Numerator coefficients of the acceleration low-pass filter.

The array contains $\begin{bmatrix}b_0 & b_1 & b_2\end{bmatrix}$.

acc_lp_a: [f64; 2]

Denominator coefficients of the acceleration low-pass filter.

The array contains $\begin{bmatrix}a_1 & a_2\end{bmatrix}$ and $a_0=1$.

k_mag: Float

Gain of the first-order filter used for heading correction.

bias_p0: Float

Variance of the initial gyroscope bias estimate.

bias_v: Float

System noise variance used in gyroscope bias estimation.

bias_motion_w: Float

Measurement noise variance for the motion gyroscope bias estimation update.

bias_vertical_w: Float

Measurement noise variance for the motion gyroscope bias estimation update in vertical direction.

bias_rest_w: Float

Measurement noise variance for the rest gyroscope bias estimation update.

rest_gyr_lp_b: [f64; 3]

Numerator coefficients of the gyroscope measurement low-pass filter for rest detection.

rest_gyr_lp_a: [f64; 2]

Denominator coefficients of the gyroscope measurement low-pass filter for rest detection.

rest_acc_lp_b: [f64; 3]

Numerator coefficients of the accelerometer measurement low-pass filter for rest detection.

rest_acc_lp_a: [f64; 2]

Denominator coefficients of the accelerometer measurement low-pass filter for rest detection.

k_mag_ref: Float

Gain of the first-order filter used for to update the magnetic field reference and candidate.

mag_norm_dip_lp_b: [f64; 3]

Numerator coefficients of the low-pass filter for the current magnetic norm and dip.

mag_norm_dip_lp_a: [f64; 2]

Denominator coefficients of the low-pass filter for the current magnetic norm and dip.

Trait Implementations

impl Clone for Coefficients

fn clone(&self) -> Coefficients

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Default for Coefficients

fn default() -> Coefficients

Returns the “default value” for a type.

impl Copy for Coefficients