feat: freeze/thaw Kalman state on reconnect#16
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chrisuthe merged 1 commit intofeat/protocol-compliancefrom Mar 4, 2026
Merged
feat: freeze/thaw Kalman state on reconnect#16chrisuthe merged 1 commit intofeat/protocol-compliancefrom
chrisuthe merged 1 commit intofeat/protocol-compliancefrom
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On WebSocket disconnect, snapshot the converged Kalman filter state (offset, drift, covariance). On reconnect, restore it with 10x inflated covariance so the filter adapts quickly while preserving learned estimates. Converges in 1-2 measurements instead of 5+ from scratch. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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…nnect feat: freeze/thaw Kalman state on reconnect
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Summary
Stacked on #15 (
feat/protocol-compliance)Test plan
🤖 Generated with Claude Code