Refactor average mimu to accepts goups of 10 rate data#127
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Refactor average mimu to accepts goups of 10 rate data#127patkenneally wants to merge 18 commits into
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Adds parallel isValid arrays to InputPktsData and InputPktsData_c. The module wrapper sets every slot true so today's behavior is preserved; the algorithm itself still ignores the field.
A slot is skipped when isValid is false or measTime is zero, both when finding the newest time tag and when accumulating the mean. Zero-measTime slots are treated as unfilled, so the first cycles after power-up no longer pollute the output; update() returns zero if no slot is fresh.
Three gtests that would have failed before the staleness rule: one valid slot with 119 zero-init slots (must equal dcm_BP*slot0), a fully unfilled buffer (must be zero), and isValid=true with measTime=0 (must be stale).
Without these typemaps, SWIG re-wraps MimuPacketGroupF32Payload and AccPktDataMsgF32Payload in the averageMimuDataF32 module with default array handling -- the `samples` field gets a getter that returns a single pointer instead of a Python list. Loading averageMimuDataF32 then overrides the messaging-module wrappers via swigregister, breaking `mimu_pkt.packets[p].samples[s]` access in any test that imports it after another test has loaded the messaging module.
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Description
This PR refactors the averageMimuData algorithm to take as input 4 "packets" of 10 mimu data samples. These time stamped samples are those which are averaged over.
Verification
The tests are updated to exercise new packets being written into the 4 packet buffer.
Documentation
The documentation is updated to reflect the 4 packet ring buffer.
Future work
None