- always compute innovation variance and test ratios (updateOptFlow())
- if horizontal aiding active require good test ratio before starting OF
- strict on ground (not flying) optical flow fusion workaround to when
vehicle is also at rest (much more conservative)
- add additional OF reset terrain validity and OF quality check
- EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set
- reset() more thoroughly reset fields (mainly impacts unit tests)
- refactor all EKF backend output predictor pieces into new OutputPredictor class
- output states are now calculated immediately with new high rate IMU rather than after EKF update
- IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
Daniel Agar