`inhibitDelVelBiasStates` becomes false once tilt alignment is complete,
which unlocks processing of states 13-15. If on the ground but tilted a
bit ("not aligned with the gravity vector") in some axis, then
`dvelBiasAxisInhibit[index]` becomes true to stop updates of variance in
that axis.
In this case, according to the comment, the covariances for that axis
state are zeroed to prevent interaction with other states, and the saved
variance from when the inhibit began is restored.
However, this zeroing was done incorrectly by only zeroing the columns
of `nextP`. As it is lower triangular, only covariances to states with a
higher index are in the same column; states with a lower index are
instead in the same row. This skipped zeroing the covariances to the
more important states and led to state divergence on the ground.
Fix by also zeroing the row to zero the lower covariances. Confirmed
that this fixes at least one replay log which showed ground divergence
while tilted. This is possibly a new feature of EKF3, or at least
implemented differently, so EKF2 does not need the same fix.
The polynomial calculation was using norm_resistance instead of rpoly
for the higher-order terms, resulting in incorrect temperature values
for sub-zero temperatures. This also fixes the clang
-Wunused-but-set-variable warning.
Add ignore patterns for vendored directories (CMSIS_5, sagetech-sdk,
modules) and disable additional rules that appear in those files:
- MD007: Unordered list indentation
- MD012: Multiple consecutive blank lines
- MD022: Headings surrounded by blank lines
- MD032: Lists surrounded by blank lines
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Disable markdownlint rules that are currently violated across the
codebase. These can be re-enabled incrementally as files are fixed:
- MD001: Heading levels increment
- MD003: Heading style
- MD004: Unordered list style
- MD014: Dollar signs before commands
- MD024: Multiple same-content headings
- MD025: Multiple top-level headings
- MD026: Trailing punctuation in heading
- MD029: Ordered list item prefix
- MD033: Inline HTML
- MD034: Bare URLs
- MD036: Emphasis as heading
- MD037: Spaces inside emphasis
- MD040: Code block language
- MD041: First line heading
- MD045: Image alt text
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD007 unordered list indentation in markdown files
Normalize unordered list indentation to use 2-space multiples:
- Top-level list items start at column 0
- Nested list items use 2 additional spaces per level
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD009 trailing whitespace in markdown files
Remove trailing whitespace from all affected markdown files.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD010 hard tabs in markdown files
Replace hard tab characters with 4 spaces.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD012 multiple consecutive blank lines in markdown
Collapse multiple consecutive blank lines to single blank lines
across all markdown files (excluding vendored code).
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD007 list indentation base level in markdown
Shift list indentation left by 2 spaces so top-level list items
start at column 0 instead of column 2.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank lines around headings in markdown
Ensure headings are surrounded by blank lines as required by
markdownlint MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD032 blank lines around lists in markdown
Ensure lists are surrounded by blank lines as required by
markdownlint MD032 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD031 blank lines around code blocks in markdown
Ensure fenced code blocks are surrounded by blank lines as required
by markdownlint MD031 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD047 files should end with single newline
Ensure all markdown files end with exactly one newline character
as required by markdownlint MD047 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD023 headings must start at beginning of line
Remove leading whitespace from heading lines as required by
markdownlint MD023 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD007 remaining list indentation in markdown
Fix unordered list indentation to use correct spacing as required
by markdownlint MD007 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD030 spaces after list markers in markdown
Reduce multiple spaces after list markers to single space as
required by markdownlint MD030 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank lines around setext headings
Ensure setext-style headings (underlined with === or ---) are
surrounded by blank lines as required by markdownlint MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD018 missing space after hash in headings
Add space after hash marks in atx-style headings as required by
markdownlint MD018 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD019 multiple spaces after hash in headings
Reduce multiple spaces after hash marks to single space in
atx-style headings as required by markdownlint MD019 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD012 multiple consecutive blank lines in markdown
Remove multiple consecutive blank lines and ensure files end with
exactly one newline as required by markdownlint MD012 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD023 headings with leading whitespace
Remove leading whitespace from setext-style heading text lines
as required by markdownlint MD023 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank line after heading in markdown
Add missing blank line after heading as required by markdownlint
MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD009 trailing non-breaking space in markdown
Remove trailing non-breaking space (U+00A0) as required by
markdownlint MD009 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD012 remaining multiple blank lines in markdown
Remove leading blank lines and whitespace-only lines that create
multiple consecutive blank lines.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
