DrZreXZH issues

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                                            DrZreXZH

compile sgm failed

Halide version 12.0.1 ``` In file included from ../../include/Element/FixedPoint.h:5:0, from ../../include/Element.h:5, from sgm_generator.cc:2: ../../include/Element/Reduction.h:28:10: error: conflicting return type specified for ‘virtual void Halide::Element::{anonymous}::FindFreeVars::visit(const Halide::Internal::Let*)’ void visit(const Let *op) { ^~~~~...

误差传播问题

NicoChou您好您在误差重置过程中将误差置为零， https://github.com/NicoChou/ESKF-Attitude-Estimation/blob/df1152ab425aa22d4801c849742b86e3deeb6ec6/ESKF_AHRS.m#L59-L60 那 https://github.com/NicoChou/ESKF-Attitude-Estimation/blob/df1152ab425aa22d4801c849742b86e3deeb6ec6/propagateErrorStateAndCovar.m#L4-L7 这段代码进行误差传递有什么用呢