6.1.8

Tuning and clean up 3D Kalman

6.1.7

3D waves Kalman tuned better

6.1.6

Improved version of Kalman 3D. Cross covariances added, etc

6.1.5

Magnetometer sim for 3D wave Kalman

6.1.4

Conjugate quaternion in W3D for consistency with QMEKF

6.1.3

Mag simulation too. Not yet converging nicely but getting closer

6.1.2

Added SeaMetrics

6.1.1

3D Kalman fixes

6.1.0

3D Kalman somewhat works
needs process noise tuning
Z axis shows good results on PM
Jonswap input model is un physical. Needs fixes
XY convergence needs investigation

6.0.39

3D Kalman now models world acceleration! Still needs tuning of process noise for zero displacement integral though