Reject invalid velocity-aided heading controls

[FlorianPfaff]

Summary

• reject non-finite speed_threshold, orientation_offset, heading_noise_variance, and minimum_heading_variance values before they can contaminate heading updates
• require real boolean values for apply_heading_on_prediction, use_heading_constraint, and the per-update heading override instead of silently coercing values such as "False" to True
• add regression coverage for NaN/Inf inputs, invalid boolean controls, NumPy booleans, and update-state preservation on invalid overrides

Why

The previous code used float(...) plus sign checks for heading scalars and bool(...) for public flags. As a result, NaN values passed validation, and a value such as use_heading_constraint="False" enabled the constraint because non-empty strings are truthy. Both can silently alter or corrupt filtering behavior.

Testing

Added focused pytest regressions under tests/filters/test_velocity_aided_mem_qkf_validation.py. Full repository CI should validate backend/lint compatibility.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no		no	8.2s
✅ JSON	prettier	7	0	0		0	0.9s
✅ JSON	v8r	7		0		0	4.05s
✅ MARKDOWN	markdownlint	68	0	0		0	2.07s
✅ MARKDOWN	markdown-table-formatter	68	0	0		0	0.43s
✅ PYTHON	black	2030	0	0		0	59.16s
✅ PYTHON	isort	2030	0	0		0	2.81s
✅ REPOSITORY	betterleaks	yes		no		no	1.23s
✅ REPOSITORY	checkov	yes		no		no	34.48s
✅ REPOSITORY	git_diff	yes		no		no	0.13s
✅ REPOSITORY	secretlint	yes		no		no	102.29s
✅ REPOSITORY	syft	yes		no		no	3.37s
✅ REPOSITORY	trivy-sbom	yes		no		no	2.7s
✅ YAML	prettier	11	0	0		0	0.63s
✅ YAML	v8r	11		0		0	16.49s
✅ YAML	yamllint	11		0		0	1.02s

Notices

⚠️ Your configuration references items that have been removed from MegaLinter and are ignored: MAKEFILE_CHECKMAKE. See Removed linters to find their replacements.

See detailed reports in MegaLinter artifacts

Your project could benefit from a custom flavor, which would allow you to run only the linters you need, and thus improve runtime performances. (Skip this info by defining FLAVOR_SUGGESTIONS: false)

• Documentation: Custom Flavors
• Command: npx mega-linter-runner@10.0.0 --custom-flavor-setup --custom-flavor-linters PYTHON_BLACK,PYTHON_ISORT,COPYPASTE_JSCPD,JSON_V8R,JSON_PRETTIER,MARKDOWN_MARKDOWNLINT,MARKDOWN_MARKDOWN_TABLE_FORMATTER,REPOSITORY_CHECKOV,REPOSITORY_GIT_DIFF,REPOSITORY_BETTERLEAKS,REPOSITORY_SECRETLINT,REPOSITORY_SYFT,REPOSITORY_TRIVY_SBOM,YAML_PRETTIER,YAML_YAMLLINT,YAML_V8R

Show us your support by starring ⭐ the repository