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Task #13

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Map engine orientation source (EKF predict/correct)

Task #13: Map engine orientation source (EKF predict/correct)

Added by knight8241 about 1 month ago. Updated about 1 month ago.

Status:
To Do
Priority:
Medium
Assignee:
-
% Done:

0%

Estimated time:

Description

Imported from the Aether local task tracker (task ref: #1).
Tasker: Claude Code agent (on behalf of runknight / )

ISSUES ENCOUNTERED
Before touching heading drift, needed to know exactly where device orientation originates in the ES-EKF (predict vs correct) and what feeds it.

SOLUTION
Traced and documented the EKF predict/correct orientation path and its inputs as the basis for the drift go/no-go.

ARTIFACTS

  • repo: design/mofe_architecture.md (in runknight-mofe/tome-client)
  • repo: design/mofe_engine.drawio (in runknight-mofe/tome-client)

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