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The polynomial calculation was using norm_resistance instead of rpoly for the higher-order terms, resulting in incorrect temperature values for sub-zero temperatures. This also fixes the clang -Wunused-but-set-variable warning.
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…racters sometimes people just forget the linefeed between the subject and commit message body. Add a very loose limit to try to catch the problem.
`inhibitDelVelBiasStates` becomes false once tilt alignment is complete,
which unlocks processing of states 13-15. If on the ground but tilted a
bit ("not aligned with the gravity vector") in some axis, then
`dvelBiasAxisInhibit[index]` becomes true to stop updates of variance in
that axis.
In this case, according to the comment, the covariances for that axis
state are zeroed to prevent interaction with other states, and the saved
variance from when the inhibit began is restored.
However, this zeroing was done incorrectly by only zeroing the columns
of `nextP`. As it is lower triangular, only covariances to states with a
higher index are in the same column; states with a lower index are
instead in the same row. This skipped zeroing the covariances to the
more important states and led to state divergence on the ground.
Fix by also zeroing the row to zero the lower covariances. Confirmed
that this fixes at least one replay log which showed ground divergence
while tilted. This is possibly a new feature of EKF3, or at least
implemented differently, so EKF2 does not need the same fix.
All inline HTML has been converted to markdown, so we can now enforce strict no-inline-HTML checking in the markdown linter. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Rename all other workflow files to .yml.disabled so only test_branch_conventions.yml runs on PRs. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Change the markdown linting step to check all markdown files in the repository (excluding submodules) rather than just changed files. Upload the lint errors as a downloadable artifact. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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MD013 (line-length) has 74 files that would become completely clean if this rule is disabled. This is the most impactful single rule to disable for reducing markdown lint errors. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Fix MD034/no-bare-urls lint errors by converting bare URLs to proper markdown link syntax [text](url). Link text is derived from the URL: - GitHub repos use the repository name - ArduPilot ecosystem URLs use descriptive names - Vendor/product URLs use the vendor name - Documentation sites include "documentation" suffix Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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