Restore per-worker VQF for methods 5-7#393
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JanuszBedkowski merged 2 commits intoMapsHD:mainfrom Mar 9, 2026
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Re-add estimate_orientations() that was removed in PR MapsHD#392. Methods 5-7 (VQF velocity) now use a local VQF instance per worker to estimate orientations from IMU data, instead of reusing the global VQF orientations. Also restore missing imu_utils function definitions (safe_dt, has_nan, is_accel_valid, convert_gyro_to_rads).
Local VQF now uses the same parameters as global VQF (from GUI/TOML) instead of hardcoded defaults. Only tauAcc was passed before.
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Summary
estimate_orientations()removed in Disable IMU preintegration by default #392imu_utilsfunction definitions (safe_dt,has_nan,is_accel_valid,convert_gyro_to_rads) that were lost during refactorContext
PR #392 accidentally removed per-worker VQF orientation estimation. Methods 5-7 became identical to 2-4 in terms of orientation source, differing only in velocity source. This restores the original behavior where methods 5-7 estimate local orientations from each worker's IMU data using a fresh VQF instance.