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[upstream PR #279] Fix process noise handling in UKF #121

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[upstream PR #279] Fix process noise handling in UKF #121

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Upstream PR: rlabbe/filterpy#279
Author: Imported from upstream

Original Description

Two minor changes to UnscentedKalmanFilter:

  1. Allow passing Q to predict step, for consistency with R in update step. It's also pretty much required if you have uneven dt.
  2. Fix a bug in the RTS smoother where passed-in Qs were not used at all.

Integration Notes

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@GeorgePearse GeorgePearse added from-upstream-pr PR imported from upstream rlabbe/filterpy repository upstream-pr-stale Upstream PR is stale (2+ years old) low-risk Low-risk PR (docs, typos, etc) labels Oct 25, 2025
@GeorgePearse
Merge remote-tracking branch 'origin/master' into HEAD
f26a815 
# Conflicts:
#	bayesian_filters/kalman/UKF.py
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from-upstream-pr PR imported from upstream rlabbe/filterpy repository low-risk Low-risk PR (docs, typos, etc) upstream-pr-stale Upstream PR is stale (2+ years old)

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@GeorgePearse @ashtuchkin