Compute Kálmán filter chi2 from predicted state #1185
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stephenswat
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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.
stephenswat
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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.