Don't double update uncertainty

pion / interceptor

Pluggable RTP/RTCP processors for building real time communication

https://pion.ly/

MIT License

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Closed alexpokotilo closed 5 months ago

alexpokotilo commented 5 months ago

Standard says we need to use either 3*sqrt(var_v_hat) or z(i)

Here is quote from

If z(i) > 3*sqrt(var_v_hat) the filter is updated with 3*sqrt(var_v_hat) rather than z(i)

rather means we need to update uncertainty with 3*sqrt(var_v_hat) and don't add z(i) this time

Fixes #...

alexpokotilo commented 5 months ago

@mengelbart could you please review ?

alexpokotilo commented 5 months ago

new request submitted containing this fix