Fixed bug in state update after jump.

pendulum-project · Sep 19, 2024 · beadfb4 · beadfb4
1 parent 9109d7b
commit beadfb4
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/ntp-proto/src/algorithm/kalman/mod.rs b/ntp-proto/src/algorithm/kalman/mod.rs
@@ -260,7 +260,7 @@ impl<C: NtpClock, SourceId: Hash + Eq + Copy + Debug> KalmanClockController<C, S
                 .expect("Cannot adjust clock");
             for (state, _) in self.sources.values_mut() {
                 if let Some(ref mut state) = state {
-                    state.state.process_offset_steering(change);
+                    state.state = state.state.process_offset_steering(change);
                 }
             }
             info!("Jumped offset by {}ms", change * 1e3);

diff --git a/ntp-proto/src/algorithm/kalman/source.rs b/ntp-proto/src/algorithm/kalman/source.rs
@@ -105,6 +105,7 @@ pub(super) struct MeasurementStats {
 }
 
 impl KalmanState {
+    #[must_use]
     pub fn progress_time(&self, time: NtpTimestamp, wander: f64) -> KalmanState {
         debug_assert!(!time.is_before(self.time));
         if time.is_before(self.time) {
@@ -130,6 +131,7 @@ impl KalmanState {
         }
     }
 
+    #[must_use]
     pub fn absorb_measurement(
         &self,
         measurement: Matrix<1, 2>,
@@ -164,6 +166,7 @@ impl KalmanState {
         )
     }
 
+    #[must_use]
     pub fn merge(&self, other: &KalmanState) -> KalmanState {
         debug_assert_eq!(self.time, other.time);
 
@@ -176,6 +179,7 @@ impl KalmanState {
         }
     }
 
+    #[must_use]
     pub fn add_server_dispersion(&self, dispersion: f64) -> KalmanState {
         KalmanState {
             state: self.state,
@@ -184,22 +188,27 @@ impl KalmanState {
         }
     }
 
+    #[must_use]
     pub fn offset(&self) -> f64 {
         self.state.ventry(0)
     }
 
+    #[must_use]
     pub fn offset_variance(&self) -> f64 {
         self.uncertainty.entry(0, 0)
     }
 
+    #[must_use]
     pub fn frequency(&self) -> f64 {
         self.state.ventry(1)
     }
 
+    #[must_use]
     pub fn frequency_variance(&self) -> f64 {
         self.uncertainty.entry(1, 1)
     }
 
+    #[must_use]
     pub fn process_offset_steering(&self, steer: f64) -> KalmanState {
         KalmanState {
             state: self.state - Vector::new_vector([steer, 0.0]),
@@ -208,6 +217,7 @@ impl KalmanState {
         }
     }
 
+    #[must_use]
     pub fn process_frequency_steering(
         &self,
         time: NtpTimestamp,