Struct ESTIMATOR_STATUS_DATA

pub struct ESTIMATOR_STATUS_DATA {
    pub time_usec: u64,
    pub vel_ratio: f32,
    pub pos_horiz_ratio: f32,
    pub pos_vert_ratio: f32,
    pub mag_ratio: f32,
    pub hagl_ratio: f32,
    pub tas_ratio: f32,
    pub pos_horiz_accuracy: f32,
    pub pos_vert_accuracy: f32,
    pub flags: EstimatorStatusFlags,
}

Available on crate feature matrixpilot only.

id: 230 Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user..

Fields

time_usec: u64

Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number..

vel_ratio: f32

Velocity innovation test ratio.

pos_horiz_ratio: f32

Horizontal position innovation test ratio.

pos_vert_ratio: f32

Vertical position innovation test ratio.

mag_ratio: f32

Magnetometer innovation test ratio.

hagl_ratio: f32

Height above terrain innovation test ratio.

tas_ratio: f32

True airspeed innovation test ratio.

pos_horiz_accuracy: f32

Horizontal position 1-STD accuracy relative to the EKF local origin.

pos_vert_accuracy: f32

Vertical position 1-STD accuracy relative to the EKF local origin.

flags: EstimatorStatusFlags

Bitmap indicating which EKF outputs are valid..

Implementations

impl ESTIMATOR_STATUS_DATA

pub const ENCODED_LEN: usize = 42usize

pub const DEFAULT: Self

Trait Implementations

impl Clone for ESTIMATOR_STATUS_DATA

fn clone(&self) -> ESTIMATOR_STATUS_DATA

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ESTIMATOR_STATUS_DATA

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

Formats the value using the given formatter.

impl Default for ESTIMATOR_STATUS_DATA

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ESTIMATOR_STATUS_DATA

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl MessageData for ESTIMATOR_STATUS_DATA

const ID: u32 = 230u32

const NAME: &'static str = "ESTIMATOR_STATUS"

const EXTRA_CRC: u8 = 163u8

const ENCODED_LEN: usize = 42usize

type Message = MavMessage

fn deser(_version: MavlinkVersion, __input: &[u8]) -> Result<Self, ParserError>

fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize

impl PartialEq for ESTIMATOR_STATUS_DATA

fn eq(&self, other: &ESTIMATOR_STATUS_DATA) -> 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 Serialize for ESTIMATOR_STATUS_DATA

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for ESTIMATOR_STATUS_DATA