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kalman: cap process noise dt to prevent t^7 explosion on tracking gaps #352

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Merged
bl4ckb0ne merged 1 commit into from
Mar 23, 2026
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kalman: cap process noise dt to prevent t^7 explosion on tracking gaps #352

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3 changes: 3 additions & 0 deletions src/survive_kalman_tracker.c
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Original file line number Diff line number Diff line change
Expand Up @@ -944,6 +944,9 @@ void survive_kalman_tracker_process_noise(const struct SurviveKalmanTracker_Para
* positional model with a second order rotational model with tuning parameters
*/

/* dt is capped to prevent NaN/inf values */
if (t > 0.05) t = 0.05;

FLT t2 = t * t;
FLT t3 = t2 * t;
FLT t4 = t3 * t;
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