Queue 1: fix ESKF vertical-channel divergence - #270
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Placeholder so the stacked PR has a diff. Replaced by the implementation. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This was referenced Sep 4, 2026
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Merging queue position 0 with --delete-branch auto-closed the PR stacked on it (#270), and GitHub then refused to reopen it because the head branch had been force-pushed by the stack rebase. The PR had to be recreated as #285. Record the order that avoids it: merge without deleting, retarget the child PR to main, rebase, force-push, and only then delete the merged branch. Also note that rebase-merge rewrites SHAs even on a fast-forward, which is why the rebase needs --onto against a recorded tip. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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v1/01-eskf-fixv1/00-test-speedWhy
Three confirmed defects: position error is radians in
FandHbut metres ininject_error_state; the velocity-attitude block ofFuses a global attitude-error convention while attitude propagation, gyro-bias coupling and injection all use local; and a scalar1e-9covariance jitter is added to all 15 diagonal entries regardless of units.Acceptance criteria
test_data.csvwith full GNSS aiding#[ignore]d ESKF tests re-enablederror_state_transition_jacobianwith non-identityC_bnapply_eskf_correctionandinject_error_stateunified into one functionapply_eskf_correction)Closes #266
Stacked on
v1/00-test-speed(#269) -- review that first; this PR's diff is against it, notmain.Rebase-merge this stack, do not squash: squashing rewrites the base and forces a manual
git rebase --ontoon every branch above it.Queue:
docs/V1_QUEUE.md| Board: https://github.com/users/jbrodovsky/projects/7