Tuning

Filter backend

Configure in FusionConfig:

• filter_type: "ekf" or "ukf"

For UKF, tune in UKFConfig:

• alpha
• beta
• kappa

Process noise

Tune in ProcessNoiseConfig:

• accel_noise_std_mps2
• gyro_noise_std_rps
• accel_bias_rw_std_mps2
• gyro_bias_rw_std_rps

GNSS noise

Tune in GnssNoiseConfig:

• position_std_m
• velocity_std_mps

Gating

Configure in GateConfig:

• enabled
• threshold (chi-square threshold for measurement dimension)

Async behavior

Configure in EngineConfig:

• reorder_window_ns
• degrade_after_s