Updated for FilterPy 1.2.0, added section

Added a section on Mahalanobis distance and on gating.
Updated to require filterpy 1.2.0.

Appendix-G-Designing-Nonlinear-Kalman-Filters.ipynb

@@ -17,9 +17,7 @@
   {
    "cell_type": "code",
    "execution_count": 1,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -408,9 +406,7 @@
   {
    "cell_type": "code",
    "execution_count": 2,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -528,9 +524,7 @@
   {
    "cell_type": "code",
    "execution_count": 3,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -563,9 +557,7 @@
   {
    "cell_type": "code",
    "execution_count": 4,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -595,9 +587,7 @@
   {
    "cell_type": "code",
    "execution_count": 5,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -626,9 +616,7 @@
   {
    "cell_type": "code",
    "execution_count": 6,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -716,9 +704,7 @@
   {
    "cell_type": "code",
    "execution_count": 7,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [],
    "source": [
     "from math import sin, cos, atan2\n",
@@ -746,9 +732,7 @@
   {
    "cell_type": "code",
    "execution_count": 8,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [],
    "source": [
     "from numpy.random import randn\n",
@@ -781,9 +765,7 @@
   {
    "cell_type": "code",
    "execution_count": 9,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -894,9 +876,7 @@
   {
    "cell_type": "code",
    "execution_count": 10,
-   "metadata": {
-    "collapsed": false
-   },
+   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -1028,7 +1008,7 @@
  "metadata": {
   "anaconda-cloud": {},
   "kernelspec": {
-   "display_name": "Python [default]",
+   "display_name": "Python 3",
    "language": "python",
    "name": "python3"
   },
@@ -1042,9 +1022,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.5.2"
+   "version": "3.6.3"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 0
+ "nbformat_minor": 1
 }

book_format.py

@@ -46,7 +46,7 @@ def test_filterpy_version():
     from distutils.version import LooseVersion
 
     v = filterpy.__version__
-    min_version = "1.1.0"
+    min_version = "1.2.0"
     if LooseVersion(v) < LooseVersion(min_version):
        raise Exception("Minimum FilterPy version supported is {}.\n"
                        "Please install a more recent version.\n"