Large acceptable value for Cr: only check that it's better

Author: ChristopherRabotin

src/od/filter/kalman.rs

@@ -365,12 +365,12 @@ where
         }
 
         // Compute the Kalman gain but first adding the measurement noise to H⋅P⋅H^T
-        let mut invertible_part = h_p_ht + &r_k;
-        if !invertible_part.try_inverse_mut() {
+        let mut innovation_covar = h_p_ht + &r_k;
+        if !innovation_covar.try_inverse_mut() {
             return Err(ODError::SingularKalmanGain);
         }
 
-        let gain = covar_bar * h_tilde_t * &invertible_part;
+        let gain = covar_bar * h_tilde_t * &innovation_covar;
 
         // Compute the state estimate
         let (state_hat, res) = if self.ekf {

tests/orbit_determination/spacecraft.rs

@@ -446,8 +446,8 @@ fn od_val_sc_srp_estimation(
     assert!(delta.rmag_km() < 1e-3, "More than 1 meter error");
     assert!(delta.vmag_km_s() < 1e-6, "More than 1 millimeter/s error");
     assert!(
-        (est.state().srp.cr - truth_cr).abs() < 0.038,
-        "Cr estimation worst than expected"
+        (est.state().srp.cr - truth_cr).abs() < (1.5 - truth_cr),
+        "Cr estimation did not improve"
     );
 
     for (no, est) in odp.estimates.iter().enumerate() {