v0.3.2

FusionCore 0.3.2

Robustness release: the outlier gate no longer has a hole under sustained
spikes, the filter survives clock rewinds instead of crashing, and the
outdoor Gazebo demo runs end to end.

Fixed

• Sustained GPS spikes can no longer defeat the outlier gate. After
  repeated rejections, coast mode used to inflate process noise until the
  gate reopened and admitted a persistent multipath spike. Coast is now
  gated on a preceding GPS gap, so a continuously-present outlier stays
  rejected (deterministic repro: 62 m -> 1.9 m peak error; Gazebo demo
  RMSE 18.15 m -> 2.76 m, below robot_localization's 18.6 m).
• Backward time-jumps no longer crash the filter. A non-monotonic
  timestamp (clock rewind, replayed bag, WSL2 glitch) drove the covariance
  non-positive-definite and aborted. Fixed with a clock re-sync and
  eigenvalue flooring; survives an NCLT run that used to SIGABRT in ~2 min.
• Gazebo outdoor demo works end to end (correct robot tracking + sim time).

Added

• gnss.max_speed: physical-plausibility gate rejecting impossible GPS jumps.
• Adaptive magnetic-disturbance rejection (magnetometer.field_strength).
• gnss.coast_min_gap_s, headless/start_delay launch args, WSL2 DDS profile.
• Benchmark regression tracking (check_benchmark_regression.py).

Changed

• Documentation accuracy pass across the benchmark and comparison pages.

Full details in CHANGELOG.md.