Compute Kálmán filter chi2 from predicted state#1185
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Compute Kálmán filter chi2 from predicted state#1185stephenswat wants to merge 1 commit intoacts-project:mainfrom
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This commit migrates the computation of the chi2 value in our gain matrix updater to use the predicted state rather than the filtered state. This is mathematically equivalent but potentially more stable.
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This commit migrates the computation of the chi2 value in our gain matrix updater to use the predicted state rather than the filtered state. This is mathematically equivalent but potentially more stable.