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21cc46edd7
* EKF: Add comparison test for mag field fusion generated code * EKF: convert mag field fusion to use SymPy generated code * EKF: Add test comparison program for yaw fusion equations * Stop setting 0 to 0 * Reduce if/else statement to only if * EKF: more accurate implementation for sequential fusion of magnetometer data * test: update change indicator * Use matrix::SparseVector<float, 24, ...> for observation jacobian * Adapt the auto code generation to allow for different bracket styles * Add auto generated code for mag fusion * Add generic computation of KHP * Apply generic computation of KHP to mag fusion * tests: update change indicator * tests: update change indicator Co-authored-by: kamilritz <kritz@ethz.ch>