This improves protection against a condition where if all yaw hypothesis filers have very large innovations, the weights of Gaussian densities can underflow leading to failure of the weights to converge.
The setting of EKF state variances is only required when commencing or recommencing velocity fusion.
The function that resets the EKF and GSF class variables has been renamed to be more consistent with its function.
Paul Riseborough
Peter Barker
Randy Mackay
Paul Riseborough