v0.3.1

Added

• Raw magnetometer heading fusion: FusionCore now subscribes to sensor_msgs/MagneticField and fuses the heading as a 1-DOF UKF update. Applies hard/soft iron correction (configurable 3-vector bias + 3x3 scale matrix) and tilt compensation using the current filter roll/pitch before fusing. Chi-squared gate (chi2(1, 0.99) = 9.21 by default) rejects magnetic spikes. Heading source hierarchy: DUAL_ANTENNA overrides MAGNETOMETER overrides GPS_TRACK. Enable with magnetometer.enabled: true. Requires calibration: collect data with a full 360-degree rotation and run imu_calib or magneto to get hard_iron and soft_iron values.
• mag_outlier_count in FilterHealth: cumulative magnetometer rejection count now published on /fusion/debug/filter_health alongside the existing GNSS, IMU, and encoder outlier counts.
• Magnetometer diagnostics: when magnetometer.enabled: true, a fusioncore: Magnetometer status block appears in /diagnostics with health state (OK/STALE/NOT_INIT) and outlier count.
• magnetometer.topic subscriber row in topics reference: documentation now lists the /imu/mag subscriber.
• 12 new unit tests: flat heading (east/north/west), declination offset, hard iron correction, tilt compensation, UKF convergence, chi2 gate rejection, heading source hierarchy, outlier counter.
• IMU lever arm centripetal compensation: when an IMU lever arm is configured, the measurement function adds the centripetal term (omega x (omega x r)) to the predicted acceleration so an off-center IMU is modeled correctly. Falls back to the zero-allocation hot path when the lever arm is zero, so platforms without one pay no cost.
• GPS pre-heading lever arm option: gnss.apply_lever_arm_pre_heading applies the antenna lever arm from the first fix, before heading is validated, for setups where the lever arm is known up front.
• IMU frame auto-resolve: imu.frame_id override resolves the IMU TF frame when a driver publishes an empty header.frame_id. Leave empty to use the message frame as before.
• Lifecycle autostart parameter (default true): the node self-transitions configure to activate about 200 ms after on_configure() returns, so it runs standalone without a lifecycle manager. Set autostart: false when nav2_lifecycle_manager drives the node, to avoid a double-activate.
• Certified hardware config registry: curated, tested YAML configs for known hardware setups.
• GNSS Doppler bridge package and Gazebo demo infrastructure: new fusioncore_ublox package plus simulation tooling for an end-to-end outdoor scenario.
• Production-grade Gazebo demo with multi-event GPS scenario: scripted GPS outlier and dropout events for reproducible demos.
• Docker support: published image at ghcr.io/manankharwar/fusioncore with CI auto-tagging on release, plus a Docker tutorial in the docs.
• Field tooling: bag-recording launch file, a field day checklist, and four troubleshooting guides.

Changed

• fusioncore_ros migrated to ament_cmake_auto for ROS 2 Lyrical support: Lyrical dropped ament_target_dependencies, so build dependencies now come from package.xml. Added std_msgs as an explicit dependency for the GnssStatus/FilterHealth messages. Eigen3 and PROJ stay explicit.
• tf2 headers use .hpp uniformly: Lyrical renamed tf2/LinearMath/*.h to .hpp. The temporary __has_include guard was dropped in favor of .hpp everywhere. Still builds on Jazzy.

Fixed

• Sensor subscriptions now use SensorDataQoS (BEST_EFFORT): all sensor subscriptions previously used the default reliable QoS, which silently fails to connect to standard sensor drivers that publish best-effort. Switching to SensorDataQoS makes IMU, GPS, and encoder topics connect out of the box.