sfwa/ukf — pull request #25 by bendyer (2014-02-17 03:02:25+00:00)
Title: Cleaning up the C66x UKF implementation

* Improved cukfmath.h function naming for consistency with C66x NMPC and FCS code (in preparation for future sharing of the math headers);
* Simplified exposed functionality;
* Improved the structure of assertions in cukf.c;
* Added assertion error messages to simplify debugging.