Struct Session 

pub struct Session {
    pub(crate) ptr: NonNull<TcsSession>,
}

One live calibration: the sample buffer, the solver, retention, the accelerometer fit, the quality figures and the filtered compass.

Fields

ptr: NonNull<TcsSession>

The C handle; never null, freed in Drop.

Implementations

impl Session

pub fn new() -> Result<Session, SessionError>

Creates an empty session.

Errors

SessionError::AbiMismatch when the linked library was built from another version of the header; SessionError::OutOfMemory when it cannot allocate.

pub fn clear(&mut self)

Discards every sample, the fit, the accelerometer fit and any loaded offset; the field returns to 50 µT. The live compass filter is kept.

pub fn add_sample(&mut self, mag: [f32; 3], accel: Option<[f32; 3]>) -> bool

Feeds one calibration sample: raw magnetometer, µT, and the accelerometer reading, mg, when the sample has one.

Returns true when the solver accepted a new fit on this sample.

pub fn has_calibration(&self) -> bool

Whether a magnetometer calibration exists (fitted or loaded).

pub fn calibrate(&self, mag: [f32; 3]) -> [f32; 3]

Applies the current magnetometer calibration, A (mag - V); the identity before a fit.

pub fn points(&self) -> Vec<[f32; 3]>

Every buffered reading, calibrated, in slot order; at most SLOTS.

pub fn constants(&self) -> Constants

The current magnetometer constants.

pub fn set_constants(&mut self, offset: [f32; 3], mapping: [[f32; 3]; 3])

Installs magnetometer constants read back from a tag. The field is recomputed from the buffered readings, or kept when there are none.

pub fn field(&self) -> f32

The field magnitude B, µT.

pub fn set_accel_offset(&mut self, offset: [f32; 3])

Installs an accelerometer offset read back from a tag, mg. It stands until a live fit is valid or the session is cleared.

pub fn update_quality(&mut self)

Recomputes the quality figures and the accelerometer fit. A valid fit also tightens the accelerometer’s intake gate, so how often this runs affects later samples: qtcalibrate’s replay runs it every second sample.

pub fn quality(&self) -> Quality

The quality figures as of the last Session::update_quality.

pub fn accel_fit(&self) -> AccelFit

The accelerometer offset in force.

pub fn evictions(&self) -> Evictions

Evictions since the last clear.

pub fn orientation( &mut self, mag: [f32; 3], accel: [f32; 3], ) -> Option<Orientation>

Solves the live compass from one raw sample, through the session’s low-pass filter, which this advances.

Returns None when the filtered pair admits no orientation.

Trait Implementations

impl Drop for Session

fn drop(&mut self)

Executes the destructor for this type.

fn pin_drop(self: Pin<&mut Self>)

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

Execute the destructor for this type, but different to Drop::drop, it requires self to be pinned.

impl Send for Session