fix: resolve logic bugs in ESKF and sensor fusion pipeline by ARYA-mgc · Pull Request #18 · ARYA-mgc/NavCore-Pixhawk

ARYA-mgc · 2026-07-20T19:27:34Z

@john-max-cyber Hey - opened this PR as a follow-up to #17 with some logic/bug fixes.
I'm pretty tied up with work this week and next, so if there's any small stuff that needs cleaning up on this, would appreciate a hand with it
Also, message me on Discord - I want to talk through this in more detail

Current Fixes

Corrected the optical flow attitude Jacobian sign
Switched terrain estimation to use the Kalman-filtered distance
Added exact attitude Jacobians for radar Doppler velocity and LiDAR tilt projection
Replaced the hardcoded magnetometer Jacobian with a dynamic attitude-coupled formulation

john-max-cyber · 2026-07-22T16:50:20Z

Hi @ARYA-mgc,
I'm busy with work right now, so I'll get back to you in 1 or 2 days. If you need anything, message me on Discord. I'll reply whenever I have some free time.

ARYA-mgc · 2026-07-27T05:42:56Z

Closing and reopening to trigger the new PR review bot

github-actions · 2026-07-27T05:45:58Z

🤖 NavCore PR Review Bot

Automated review generated at 2026-07-27 05:52 UTC

Summary

Check	Status	Details
🔍 Lint (flake8)	⚠️	185 issue(s)
🔠 Type Check (mypy)	✅	Clean
🧪 Tests (pytest)	❓	0 passed, 0 failed, 0 skipped
📐 Jacobian Validation	✅	All analytical Jacobians match numerical finite-difference references.

⚠️ Some checks have warnings. Review the details below.

🔍 Lint Issues

❌ Errors (must fix)

File	Line	Code	Message
`scripts/analyze_flight.py`	25	`F401`	'json' imported but unused
`scripts/analyze_flight.py`	26	`F401`	'math' imported but unused
`scripts/analyze_flight.py`	29	`F401`	'pathlib.Path' imported but unused
`scripts/analyze_flight.py`	37	`F401`	'utils.gt_eval.load_ground_truth_csv' imported but unused
`scripts/analyze_flight.py`	46	`F401`	'matplotlib.gridspec.GridSpec' imported but unused
`scripts/analyze_flight.py`	335	`F401`	'core.eskf.ESKF' imported but unused
`scripts/generate_rtk_sim.py`	23	`F401`	'json' imported but unused
`scripts/rtk_validate.py`	21	`F401`	'json' imported but unused
`scripts/rtk_validate.py`	25	`F401`	'pathlib.Path' imported but unused
`scripts/rtk_validate.py`	30	`F401`	'core.eskf.EKFHealth' imported but unused
`scripts/validate_logs.py`	18	`F401`	'math' imported but unused
`scripts/validate_logs.py`	21	`F401`	'pathlib.Path' imported but unused
`scripts/validate_logs.py`	22	`F401`	'typing.Tuple' imported but unused
`scripts/validate_logs.py`	22	`F401`	'typing.Optional' imported but unused
`scripts/validate_logs.py`	87	`F841`	local variable 'color' is assigned to but never used
`src/core/m.py`	307	`F824`	`global _running` is unused: name is never assigned in scope
`src/interfaces/ros2.py`	18	`F401`	'geometry_msgs.msg.Twist' imported but unused
`src/interfaces/ros2.py`	18	`F401`	'geometry_msgs.msg.PoseWithCovariance' imported but unused
`src/interfaces/ros2.py`	18	`F401`	'geometry_msgs.msg.TwistWithCovariance' imported but unused
`src/interfaces/ros2.py`	18	`F401`	'geometry_msgs.msg.Pose' imported but unused

⚠️ Warnings (101 total)

Click to expand

File	Line	Code	Message
`scripts/analyze_flight.py`	37	`E402`	module level import not at top of file
`scripts/analyze_flight.py`	53	`E302`	expected 2 blank lines, found 1
`scripts/analyze_flight.py`	54	`E221`	multiple spaces before operator
`scripts/analyze_flight.py`	55	`E221`	multiple spaces before operator
`scripts/analyze_flight.py`	56	`E221`	multiple spaces before operator
`scripts/analyze_flight.py`	57	`E221`	multiple spaces before operator
`scripts/analyze_flight.py`	58	`E221`	multiple spaces before operator
`scripts/analyze_flight.py`	59	`E221`	multiple spaces before operator
`scripts/generate_rtk_sim.py`	42	`E127`	continuation line over-indented for visual indent
`scripts/generate_rtk_sim.py`	43	`E127`	continuation line over-indented for visual indent
`scripts/generate_rtk_sim.py`	44	`E127`	continuation line over-indented for visual indent
`scripts/generate_rtk_sim.py`	63	`E127`	continuation line over-indented for visual indent
`scripts/generate_rtk_sim.py`	64	`E127`	continuation line over-indented for visual indent
`scripts/generate_rtk_sim.py`	77	`E127`	continuation line over-indented for visual indent
`scripts/generate_rtk_sim.py`	78	`E127`	continuation line over-indented for visual indent
`scripts/generate_rtk_sim.py`	79	`E127`	continuation line over-indented for visual indent
`scripts/generate_rtk_sim.py`	109	`E127`	continuation line over-indented for visual indent
`scripts/rtk_validate.py`	30	`E402`	module level import not at top of file
`scripts/rtk_validate.py`	31	`E402`	module level import not at top of file
`src/core/eskf.py`	2	`E265`	block comment should start with '# '
`src/core/eskf_my_version.py`	2	`E265`	block comment should start with '# '
`src/core/eskf_my_version.py`	125	`E501`	line too long (129 > 120 characters)
`src/core/eskf_my_version.py`	126	`E501`	line too long (130 > 120 characters)
`src/core/sliding_window.py`	463	`E203`	whitespace before ':'
`src/core/sliding_window.py`	463	`E203`	whitespace before ':'
`src/core/sliding_window.py`	464	`E203`	whitespace before ':'
`src/core/sliding_window.py`	464	`E203`	whitespace before ':'
`src/core/sliding_window.py`	465	`E203`	whitespace before ':'
`src/core/sliding_window.py`	465	`E203`	whitespace before ':'
`src/core/sliding_window.py`	466	`E203`	whitespace before ':'
...	...	...	71 more

💅 Style (64 total)

Click to expand

File	Line	Code	Message
`scripts/analyze_flight.py`	51	`W291`	trailing whitespace
`scripts/analyze_flight.py`	137	`W291`	trailing whitespace
`scripts/analyze_flight.py`	209	`W291`	trailing whitespace
`scripts/analyze_flight.py`	239	`W291`	trailing whitespace
`scripts/analyze_flight.py`	255	`W291`	trailing whitespace
`scripts/analyze_flight.py`	262	`W291`	trailing whitespace
`scripts/analyze_flight.py`	282	`W291`	trailing whitespace
`scripts/analyze_flight.py`	285	`W291`	trailing whitespace
`scripts/analyze_flight.py`	288	`W291`	trailing whitespace
`scripts/analyze_flight.py`	308	`W291`	trailing whitespace
`scripts/analyze_flight.py`	454	`W291`	trailing whitespace
`scripts/analyze_flight.py`	476	`W291`	trailing whitespace
`scripts/analyze_flight.py`	496	`W291`	trailing whitespace
`scripts/analyze_flight.py`	512	`W291`	trailing whitespace
`scripts/analyze_flight.py`	534	`W291`	trailing whitespace
`scripts/analyze_flight.py`	574	`W291`	trailing whitespace
`scripts/analyze_flight.py`	601	`W291`	trailing whitespace
`scripts/analyze_flight.py`	704	`W291`	trailing whitespace
`scripts/pr_review_comment.py`	185	`C901`	'generate_comment' is too complex (18)
`scripts/validate_logs.py`	28	`W291`	trailing whitespace

📐 Jacobian Validation Details

Test	Status
`TestJacobianValidation::test_mag_jacobian`	✅ PASSED
`TestJacobianValidation::test_optical_flow_jacobian`	✅ PASSED
`TestJacobianValidation::test_radar_jacobian`	✅ PASSED
`TestJacobianValidation::test_lidar_jacobian`	✅ PASSED

📐 All analytical Jacobians match their numerical finite-difference counterparts within tolerance. The sensor update math is verified.

🤖 Generated by NavCore PR Review Bot — runs on every PR targeting src/, tests/, or scripts/.

ARYA-mgc · 2026-07-27T05:50:05Z

@john-max-cyber sorry for noises i will open new pr

ARYA-mgc added 2 commits July 20, 2026 14:25

chore(typing): add assert to satisfy mypy for _baro_origin

d23be39

fix: resolve logic bugs in ESKF and sensor fusion pipeline

5b754f1

ARYA-mgc assigned john-max-cyber Jul 20, 2026

ARYA-mgc requested a review from john-max-cyber July 20, 2026 19:41

ARYA-mgc closed this Jul 27, 2026

ARYA-mgc reopened this Jul 27, 2026

ARYA-mgc closed this Jul 27, 2026

ARYA-mgc reopened this Jul 27, 2026

ARYA-mgc closed this Jul 27, 2026

john-max-cyber mentioned this pull request Jul 27, 2026

Math fixes: Attitude Jacobians and Terrain KF #19

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fix: resolve logic bugs in ESKF and sensor fusion pipeline - #18

fix: resolve logic bugs in ESKF and sensor fusion pipeline#18
ARYA-mgc wants to merge 2 commits into
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all-logic-fix

ARYA-mgc commented Jul 20, 2026 •

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🤖 NavCore PR Review Bot

Summary

🔍 Lint Issues

❌ Errors (must fix)

⚠️ Warnings (101 total)

💅 Style (64 total)

📐 Jacobian Validation Details

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ARYA-mgc commented Jul 27, 2026

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ARYA-mgc commented Jul 20, 2026 •

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