Fixed GPS position outlier detection by appropriate statistical compa… - #107
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Fixed GPS position outlier detection by appropriate statistical compa…#107MasterPIC wants to merge 1 commit into
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…rison: - sigma clipping with k=2: the delta of the latest sample from the distribution mean is compared against 2σ (previously the raw delta was compared against σ directly, missing the subtraction of the mean) - sample count properly tracked to avoid spurious results during buffer fill-up Clarified GNSS timing semantics by introducing two named constants replacing a magic number (5000ms) used indiscriminately for two distinct purposes: - GPS_VALID_TIMEOUT_MS: maximum age of a GNSS fix to be considered valid - GPS_COMPARISON_PERIOD_MS: period between consecutive comparisons of the stored (EEPROM) position against the current GNSS reading, used as a drift alert (no position update is performed) Tuning: - GPS_VALID_TIMEOUT_MS and GPS_COMPARISON_PERIOD_MS both reduced to 2000ms - Number of observations increased to 12 - Absolute thresholds in isLocationSyncWithGNSS (2 arcsec lat/lng, 30m elevation) can be further reduced once field-tested
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…rison:
Clarified GNSS timing semantics by introducing two named constants replacing a magic number (5000ms) used indiscriminately for two distinct purposes:
Tuning: