Math fixes: Attitude Jacobians and Terrain KF

[ARYA-mgc]

Hey @john-max-cyber, I closed the PR #18 because the GitHub bot created a lot of noise in the discussion. I'll clean it up and open a new PR
opened this PR as a follow-up to #17

[github-actions]

NavCore PR Review Bot

Automated review — 2026-07-27 06:26 UTC

Summary

Check	Status	Details
Lint (flake8)	WARNING	314 issue(s)
Type Check (mypy)	PASS	Clean
Tests (pytest)	N/A	0 passed, 0 failed, 0 skipped
Jacobian Validation	PASS	All analytical Jacobians match numerical finite-difference references.

Result: Some checks have warnings. See details below.

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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/eskf.py	9	F401	'typing.Optional' imported but unused
src/core/eskf.py	9	F401	'typing.Tuple' imported but unused
src/core/eskf.py	507	F841	local variable 'R_dcm' is assigned to but never used
src/core/m.py	6	F401	'pathlib.Path' imported but unused
src/core/m.py	12	F401	'threading' imported but unused

Warnings (148 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	69	E261	at least two spaces before inline comment
src/core/eskf.py	108	E261	at least two spaces before inline comment
src/core/eskf.py	596	E303	too many blank lines (2)
src/core/eskf.py	671	E261	at least two spaces before inline comment
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/m.py	19	E272	multiple spaces before keyword
src/core/m.py	20	E272	multiple spaces before keyword
src/core/m.py	21	E272	multiple spaces before keyword
src/core/m.py	28	E272	multiple spaces before keyword
...	...	...	118 more

Style (141 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	188	C901	'generate_comment' is too complex (18)
scripts/validate_logs.py	28	W291	trailing whitespace

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Jacobian Validation Details

Test	Result
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.

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

[john-max-cyber]

Hey @ARYA-mgc, I'll review this properly later I'm tied up at work right now I'll be back in about a day please wait until then

[ARYA-mgc]

thanks @john-max-cyber