Queue 6: NIS innovation gating + ZUPT/ZARU - #275
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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>
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v1/06-aidingv1/05-filtersWhy
sim::health::HealthMonitoralready hasnis_pos_maxand a consecutive-exceedance counter but is passedNoneat both call sites. This PR supplies the producer.Acceptance criteria
updateHealthMonitorreceives a real NISZuptMeasurement/ZaruMeasurement+ Jacobians inlinearize.rsCloses #260 Closes #261
Stacked on
v1/05-filters(#274) -- 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