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Clamp true state update before sqrt#1

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rydak81 wants to merge 1 commit intomainfrom
codex/clamp-value-before-sqrt-in-update-step
Open

Clamp true state update before sqrt#1
rydak81 wants to merge 1 commit intomainfrom
codex/clamp-value-before-sqrt-in-update-step

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@rydak81 rydak81 commented Sep 15, 2025

Summary

  • clamp the EKF true state update input to sqrt by enforcing a minimum of -5 before applying the square root to avoid NaNs

Testing

  • not run (not requested)

https://chatgpt.com/codex/tasks/task_e_68c870b929e88331b573c31c65a7c338

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